Wiki source code of LSS - Communication Protocol

Version 199.1 by Eric Nantel on 2021/05/07 14:51

79.1	1	(% class="wikigeneratedid" id="HTableofContents" %)
100.1	2	Page Contents
67.1	3
64.5	4	{{toc depth="3"/}}
	5
139.1	6	= Serial Protocol =
64.19	7
172.1	8	The 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 servomotor is available.
1.1	9
194.2	10	In order to be able to control each servo individually with commands, the first step should be to assign a different ID number to each servo (see details on the Configure ID, or "CID" command [[here>>doc:\|\|anchor="HIdentificationNumber28ID29"]]). Only the servo(s) which have been configured to a specific ID will act on a command sent to that ID. There is currently no CRC or checksum implemented as part of the protocol.
93.1	11
64.2	12	== Session ==
1.1	13
191.1	14	{{html clean="false" wiki="true"}}
172.1	15	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	16	A "session" is defined as the time between when the servo is powered ON to when it is powered OFF or reset.<div class="wikimodel-emptyline"></div>
1.1	17
194.2	18	Note 1: For a given session, the action related to a specific command overrides the stored value in EEPROM.<div class="wikimodel-emptyline"></div>
	19	Note 2: During the power-on / reset process the LSS cannot accept commands for a small amount of time (~1.25 s).<div class="wikimodel-emptyline"></div>
	20	Note 3: You can ensure the LSS is ready by using a query command to check for response (ex: #[id]Q\r or #[id]QID\r described below). If the LSS is ready for commands (initialized) it will respond to the query. A timeout between 50-100 ms is recommended to compensate for drivers, OS and buffering delays.
172.1	21	<div class="wikimodel-emptyline"></div></div></div>
	22	{{/html}}
96.1	23
1.1	24	== Action Commands ==
	25
194.2	26	{{html clean="false" wiki="true"}}
172.1	27	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
194.2	28	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>>\|\|anchor="HVirtualAngularPosition"]] (described below). Action commands are sent serially to the servo's Rx pin and must be sent in the following format:<div class="wikimodel-emptyline"></div>
1.1	29
172.1	30	1. Start with a number sign # (Unicode Character: U+0023)
194.2	31	1. Servo ID number as an integer (assigning an ID described below)
	32	1. Action command (one or more letters, no whitespace, capital or lowercase from the list below)
1.1	33	1. Action value in the correct units with no decimal
172.1	34	1. End with a carriage return \r or <cr> Unicode Character (U+000D)
1.1	35
	36	(((
172.1	37	Ex: #5D1800<cr><div class="wikimodel-emptyline"></div>
1.1	38
172.1	39	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 (1800 in tenths of degrees) of 180.0 degrees. Any servo on the bus which does not have ID 5 will take no action when receiving this command.
	40	<div class="wikimodel-emptyline"></div></div></div>
	41	{{/html}}
1.1	42
172.1	43	== Modifiers ==
1.1	44
194.2	45	{{html clean="false" wiki="true"}}
172.1	46	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	47	Modifiers can only be used with certain action commands. The format to include a modifier is:<div class="wikimodel-emptyline"></div>
1.1	48
172.1	49	1. Start with a number sign # (Unicode Character: U+0023)
1.1	50	1. Servo ID number as an integer
194.2	51	1. Action command (one to three letters, no spaces, capital or lowercase from a subset of action commands below)
1.1	52	1. Action value in the correct units with no decimal
194.2	53	1. Modifier command (one or two letters from the list of modifiers below)
1.1	54	1. Modifier value in the correct units with no decimal
172.1	55	1. End with a carriage return \r or <cr> Unicode Character (U+000D)
1.1	56
172.1	57	Ex: #5D1800T1500<cr><div class="wikimodel-emptyline"></div>
1.1	58
172.1	59	This results in the servo with ID #5 rotating to a position (1800 in tenths of degrees) of 180.0 degrees in a time ("T") of 1500 milliseconds (1.5 seconds).<div class="wikimodel-emptyline"></div>
	60	<div class="wikimodel-emptyline"></div></div></div>
	61	{{/html}}
1.1	62
	63	== Query Commands ==
	64
194.2	65	{{html clean="false" wiki="true"}}
172.1	66	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	67	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:<div class="wikimodel-emptyline"></div>
1.1	68
172.1	69	1. Start with a number sign # (Unicode Character: U+0023)
1.1	70	1. Servo ID number as an integer
172.1	71	1. Query command (one to four letters, no spaces, capital or lower case)
	72	1. End with a carriage return \r or <cr> Unicode Character (U+000D)<div class="wikimodel-emptyline"></div>
1.1	73
194.2	74	Ex: #5QD<cr> Query the position in (tenth of) degrees for servo with ID #5<div class="wikimodel-emptyline"></div>
1.1	75
93.1	76	The query will return a serial string (almost instantaneously) via the servo's Tx pin with the following format:
1.1	77
172.1	78	1. Start with an asterisk * (Unicode Character: U+0023)
1.1	79	1. Servo ID number as an integer
172.1	80	1. Query command (one to four letters, no spaces, capital letters)
1.1	81	1. The reported value in the units described, no decimals.
172.1	82	1. End with a carriage return \r or <cr> Unicode Character (U+000D)<div class="wikimodel-emptyline"></div>
1.1	83
172.1	84	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 to multiple servos 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 query command. A reply to the query sent above might be:<div class="wikimodel-emptyline"></div>
93.1	85
172.1	86	Ex: *5QD1800<cr><div class="wikimodel-emptyline"></div>
1.1	87
172.1	88	This indicates that servo #5 is currently at 180.0 degrees (1800 tenths of degrees).
	89	<div class="wikimodel-emptyline"></div></div></div>
	90	{{/html}}
1.1	91
96.1	92	== Configuration Commands ==
	93
194.2	94	{{html clean="false" wiki="true"}}
172.1	95	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	96	Configuration commands and corresponding values affect a servo's defaults which are written to and read from the servo's EEPROM.<div class="wikimodel-emptyline"></div>
96.1	97
194.2	98	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. This means that if two of the same configuration commands are sent, one after the next, only the last configuration is used and stored.<div class="wikimodel-emptyline"></div>
172.1	99
	100	The format to send a configuration command is identical to that of an action command:<div class="wikimodel-emptyline"></div>
	101
	102	1. Start with a number sign # (Unicode Character: U+0023)
96.1	103	1. Servo ID number as an integer
172.1	104	1. Configuration command (two to four letters, no spaces, capital or lower case)
96.1	105	1. Configuration value in the correct units with no decimal
172.1	106	1. End with a carriage return \r or <cr> Unicode Character (U+000D)<div class="wikimodel-emptyline"></div>
96.1	107
172.1	108	Ex: #5CO-50<cr><div class="wikimodel-emptyline"></div>
96.1	109
172.1	110	This configures an absolute origin offset ("CO") with respect to factory origin of 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 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 that clears all configurations (through the button menu or with DEFAULT command described below).<div class="wikimodel-emptyline"></div>
96.1	111
172.1	112	Session vs Configuration Query<div class="wikimodel-emptyline"></div>
1.1	113
172.1	114	By default, the query command returns the session's 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:<div class="wikimodel-emptyline"></div>
1.1	115
172.1	116	Ex: #5CSR20<cr> immediately sets the maximum speed for servo #5 to 20rpm (explained below) and changes the value in memory.<div class="wikimodel-emptyline"></div>
1.1	117
172.1	118	After RESET, a command of #5SR4<cr> sets the session's speed to 4rpm, but does not change the configuration value in memory. Therefore:<div class="wikimodel-emptyline"></div>
1.1	119
172.1	120	#5QSR<cr> or #5QSR0<cr> would return *5QSR4<cr> which represents the value for that session, whereas<div class="wikimodel-emptyline"></div>
1.1	121
172.1	122	#5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
	123	<div class="wikimodel-emptyline"></div></div></div>
	124	{{/html}}
56.1	125
65.2	126	== Virtual Angular Position ==
56.1	127
172.1	128	{{html wiki="true" clean="false"}}
	129	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	130	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. 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).<div class="wikimodel-emptyline"></div>
56.1	131
172.1	132	[[image:LSS-servo-positions.jpg]]<div class="wikimodel-emptyline"></div>
56.1	133
172.1	134	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:<div class="wikimodel-emptyline"></div>
56.1	135
172.1	136	#1D-300<cr> This causes the servo to move to -30.0 degrees (green arrow)<div class="wikimodel-emptyline"></div>
56.1	137
172.1	138	#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)<div class="wikimodel-emptyline"></div>
56.1	139
172.1	140	#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.<div class="wikimodel-emptyline"></div>
56.1	141
172.1	142	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.<div class="wikimodel-emptyline"></div>
56.1	143
172.1	144	#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.<div class="wikimodel-emptyline"></div>
56.1	145
172.1	146	#1D3300<cr> would cause the servo to rotate from 480.0 degrees to 330.0 degrees (yellow arrow).<div class="wikimodel-emptyline"></div>
56.1	147
172.1	148	If 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). The virtual position range at power-up is [-180.0°, 180.0°].
	149	<div class="wikimodel-emptyline"></div></div></div>
	150	{{/html}}
1.1	151
	152	= Command List =
	153
172.1	154	Latest firmware version currently : 368.29.14
99.1	155
193.1	156	\|(% colspan="10" style="color:orange; font-size:18px" %)[[Communication Setup>>\|\|anchor="HCommunicationSetup"]]
172.1	157	\|(% style="width:25px" %) \|(% style="width:200px" %)Description\|(% style="text-align:center; width:100px" %)Action\|(% style="text-align:center; width:75px" %)Query\|(% style="text-align:center; width:75px" %)Config\|(% style="text-align:center; width:75px" %)RC\|(% style="text-align:center; width:75px" %)Serial\|(% style="width:100px" %)Default\|(% style="width:170px" %)Unit\|Notes
193.1	158	\| \|[[Reset>>\|\|anchor="HReset"]]\|(% style="text-align:center" %)RESET\|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %)✓\| \| \|Soft reset. See command for details.
	159	\| \|[[Default Configuration>>\|\|anchor="HDefault26confirm"]]\|(% style="text-align:center" %)DEFAULT\|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %)✓\| \| \|Revert to firmware default values. See command for details
192.1	160	\| \|[[Firmware Update Mode>>\|\|anchor="HUpdate26confirm"]]\|(% style="text-align:center" %)UPDATE\|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %)✓\| \| \|Update firmware. See command for details.
193.1	161	\| \|[[Confirm Changes>>\|\|anchor="HConfirm"]]\|(% style="text-align:center" %)CONFIRM\|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %)✓\| \| \|
	162	\| \|[[Change to RC>>\|\|anchor="HConfigureRCMode28CRC29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %)CRC\|(% style="text-align:center" %) \|(% style="text-align:center" %)✓\| \| \|Change to RC mode 1 (position) or 2 (wheel).
	163	\| \|[[ID #>>\|\|anchor="HIdentificationNumber28ID29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QID\|(% style="text-align:center" %)CID\|(% style="text-align:center" %) \|(% style="text-align:center" %)✓\|0\| \|Reset required after change. ID 254 is a "broadcast" which all servos respond to.
	164	\| \|[[Baudrate>>\|\|anchor="HBaudRate"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QB\|(% style="text-align:center" %)CB\|(% style="text-align:center" %) \|(% style="text-align:center" %)✓\|115200\| \|Reset required after change.
94.1	165
193.1	166	\|(% colspan="10" style="color:orange; font-size:18px" %)[[Motion>>\|\|anchor="HMotion"]]
172.1	167	\|(% style="width:25px" %) \|(% style="width:200px" %)Description\|(% style="text-align:center; width:100px" %)Action\|(% style="text-align:center; width:75px" %)Query\|(% style="text-align:center; width:75px" %)Config\|(% style="text-align:center; width:75px" %)RC\|(% style="text-align:center; width:75px" %)Serial\|(% style="width:100px" %)Default\|(% style="width:170px" %)Unit\|Notes
193.1	168	\| \|[[Position in Degrees>>\|\|anchor="HPositioninDegrees28D29"]]\|(% style="text-align:center" %)D\|(% style="text-align:center" %)QD/QDT\|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %)✓\| \|1/10°\|
	169	\| \|[[Move in Degrees (relative)>>\|\|anchor="H28Relative29MoveinDegrees28MD29"]]\|(% style="text-align:center" %)MD\|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %)✓\| \|1/10°\|
	170	\| \|[[Wheel mode in Degrees>>\|\|anchor="HWheelModeinDegrees28WD29"]]\|(% style="text-align:center" %)WD\|(% style="text-align:center" %)QWD/QVT\|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %)✓\| \|°/s\|A.K.A. "Speed mode" or "Continuous rotation"
	171	\| \|[[Wheel mode in RPM>>\|\|anchor="HWheelModeinRPM28WR29"]]\|(% style="text-align:center" %)WR\|(% style="text-align:center" %)QWR\|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %)✓\| \|RPM\|A.K.A. "Speed mode" or "Continuous rotation"
	172	\| \|[[Position in PWM>>\|\|anchor="HPositioninPWM28P29"]]\|(% style="text-align:center" %)P\|(% style="text-align:center" %)QP\|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %)✓\| \|us\|Inherited from SSC-32 serial protocol
	173	\| \|[[Move in PWM (relative)>>\|\|anchor="H28Relative29MoveinPWM28M29"]]\|(% style="text-align:center" %)M\|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %)✓\| \|us\|
	174	\| \|[[Raw Duty-cycle Move>>\|\|anchor="HRawDuty-cycleMove28RDM29"]]\|(% style="text-align:center" %)RDM\|(% style="text-align:center" %)QMD\|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %)✓\| \|-1023 to 1023 integer\|Positive values : CW / Negative values : CCW
	175	\| \|[[Query Status>>\|\|anchor="HQueryStatus28Q29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)Q\|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %)✓\| \|1 to 8 integer\|See command description for details
	176	\| \|[[Limp>>\|\|anchor="HLimp28L29"]]\|(% style="text-align:center" %)L\|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %)✓\| \| \|
	177	\| \|[[Halt & Hold>>\|\|anchor="HHalt26Hold28H29"]]\|(% style="text-align:center" %)H\|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %)✓\| \| \|
94.1	178
193.1	179	\|(% colspan="10" style="color:orange; font-size:18px" %)[[Motion Setup>>\|\|anchor="HMotionSetup"]]
172.1	180	\|(% style="width:25px" %) \|(% style="width:200px" %)Description\|(% style="text-align:center; width:100px" %)Action\|(% style="text-align:center; width:75px" %)Query\|(% style="text-align:center; width:75px" %)Config\|(% style="text-align:center; width:75px" %)RC\|(% style="text-align:center; width:75px" %)Serial\|(% style="width:100px" %)Default\|(% style="width:170px" %)Unit\|Notes
193.1	181	\| \|[[Enable Motion Profile>>\|\|anchor="HEnableMotionProfile28EM29"]]\|(% style="text-align:center" %)EM\|(% style="text-align:center" %)QEM\|(% style="text-align:center" %)CEM\|(% style="text-align:center" %) \|(% style="text-align:center" %)✓\|1\| \|EM1: trapezoidal motion profile / EM0: no motion profile
	182	\| \|[[Filter Position Count>>\|\|anchor="HFilterPositionCount28FPC29"]]\|(% style="text-align:center" %)FPC\|(% style="text-align:center" %)QFPC\|(% style="text-align:center" %)CFPC\|(% style="text-align:center" %)✓\|(% style="text-align:center" %)✓\|5\| \|Affects motion only when motion profile is disabled (EM0)
	183	\| \|[[Origin Offset>>\|\|anchor="HOriginOffset28O29"]]\|(% style="text-align:center" %)O\|(% style="text-align:center" %)QO\|(% style="text-align:center" %)CO\|(% style="text-align:center" %)✓\|(% style="text-align:center" %)✓\|0\|1/10°\|
	184	\| \|[[Angular Range>>\|\|anchor="HAngularRange28AR29"]]\|(% style="text-align:center" %)AR\|(% style="text-align:center" %)QAR\|(% style="text-align:center" %)CAR\|(% style="text-align:center" %)✓\|(% style="text-align:center" %)✓\|1800\|1/10°\|
	185	\| \|[[Angular Stiffness>>\|\|anchor="HAngularStiffness28AS29"]]\|(% style="text-align:center" %)AS\|(% style="text-align:center" %)QAS\|(% style="text-align:center" %)CAS\|(% style="text-align:center" %)✓\|(% style="text-align:center" %)✓\|0\|-4 to +4 integer\|Suggested values are between 0 to +4
	186	\| \|[[Angular Holding Stiffness>>\|\|anchor="HAngularHoldingStiffness28AH29"]]\|(% style="text-align:center" %)AH\|(% style="text-align:center" %)QAH\|(% style="text-align:center" %)CAH\|(% style="text-align:center" %)✓\|(% style="text-align:center" %)✓\|4\|-10 to +10 integer\|
	187	\| \|[[Angular Acceleration>>\|\|anchor="HAngularAcceleration28AA29"]]\|(% style="text-align:center" %)AA\|(% style="text-align:center" %)QAA\|(% style="text-align:center" %)CAA\|(% style="text-align:center" %) \|(% style="text-align:center" %)✓\|100\|°/s^^2^^\|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
	188	\| \|[[Angular Deceleration>>\|\|anchor="HAngularDeceleration28AD29"]]\|(% style="text-align:center" %)AD\|(% style="text-align:center" %)QAD\|(% style="text-align:center" %)CAD\|(% style="text-align:center" %) \|(% style="text-align:center" %)✓\|100\|°/s^^2^^\|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
	189	\| \|[[Gyre Direction>>\|\|anchor="HGyreDirection28G29"]]\|(% style="text-align:center" %)G\|(% style="text-align:center" %)QG\|(% style="text-align:center" %)CG\|(% style="text-align:center" %)✓\|(% style="text-align:center" %)✓\|1\| \|Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)
	190	\| \|[[First Position (Deg)>>\|\|anchor="HFirstPosition"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QFD\|(% style="text-align:center" %)CFD\|(% style="text-align:center" %)✓\|(% style="text-align:center" %)✓\|No value\|1/10°\|Reset required after change.
	191	\| \|[[Maximum Motor Duty>>\|\|anchor="HMaximumMotorDuty28MMD29"]]\|(% style="text-align:center" %)MMD\|(% style="text-align:center" %)QMMD\|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %)✓\|1023\|255 to 1023 integer\|
	192	\| \|[[Maximum Speed in Degrees>>\|\|anchor="HMaximumSpeedinDegrees28SD29"]]\|(% style="text-align:center" %)SD\|(% style="text-align:center" %)QSD\|(% style="text-align:center" %)CSD\|(% style="text-align:center" %)✓\|(% style="text-align:center" %)✓\|Max\|°/s\|SD overwrites SR / CSD overwrites CSR and vice-versa
	193	\| \|[[Maximum Speed in RPM>>\|\|anchor="HMaximumSpeedinRPM28SR29"]]\|(% style="text-align:center" %)SR\|(% style="text-align:center" %)QSR\|(% style="text-align:center" %)CSR\|(% style="text-align:center" %)✓\|(% style="text-align:center" %)✓\|Max\|RPM\|SD overwrites SR / CSD overwrites CSR and vice-versa
1.1	194
193.1	195	\|(% colspan="10" style="color:orange; font-size:18px" %)[[Modifiers>>\|\|anchor="HModifiers"]]
172.1	196	\|(% style="width:25px" %) \|(% style="width:200px" %)Description\|(% style="text-align:center; width:100px" %)Modifier\|(% style="text-align:center; width:75px" %)Query\|(% style="text-align:center; width:75px" %)Config\|(% style="text-align:center; width:75px" %)RC\|(% style="text-align:center; width:75px" %)Serial\|(% style="width:100px" %)Default\|(% style="width:170px" %)Unit\|Notes
193.1	197	\| \|[[Speed>>\|\|anchor="HSpeed28S2CSD29modifier"]]\|(% style="text-align:center" %)S\|(% style="text-align:center" %)QS\|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %)✓\| \|uS/s \|For P action command
	198	\| \|[[Speed in Degrees>>\|\|anchor="HSpeed28S2CSD29modifier"]]\|(% style="text-align:center" %)SD\|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %)✓\| \|°/s\|For D and MD action commands
	199	\| \|[[Timed move>>\|\|anchor="HTimedmove28T29modifier"]]\|(% style="text-align:center" %)T\|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %)✓\| \|ms\|Modifier only for P, D and MD. Time can change based on load
	200	\| \|[[Current Hold>>\|\|anchor="HCurrentHalt26Hold28CH29modifier"]]\|(% style="text-align:center" %)CH\|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %)✓\| \|mA\|Modifier for D, MD, WD and WR
	201	\| \|[[Current Limp>>\|\|anchor="HCurrentLimp28CL29modifier"]]\|(% style="text-align:center" %)CL\|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %)✓\| \|mA\|Modifier for D, MD, WD and WR
93.1	202
193.1	203	\|(% colspan="10" style="color:orange; font-size:18px" %)[[Telemetry>>\|\|anchor="HTelemetry"]]
172.1	204	\|(% style="width:25px" %) \|(% style="width:200px" %)Description\|(% style="text-align:center; width:100px" %)Action\|(% style="text-align:center; width:75px" %)Query\|(% style="text-align:center; width:75px" %)Config\|(% style="text-align:center; width:75px" %)RC\|(% style="text-align:center; width:75px" %)Serial\|(% style="width:100px" %)Default\|(% style="width:170px" %)Unit\|Notes
193.1	205	\| \|[[Query Voltage>>\|\|anchor="HQueryVoltage28QV29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QV\|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %)✓\| \|mV\|
	206	\| \|[[Query Temperature>>\|\|anchor="HQueryTemperature28QT29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QT\|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %)✓\| \|1/10°C\|
	207	\| \|[[Query Current>>\|\|anchor="HQueryCurrent28QC29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QC\|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %)✓\| \|mA\|
	208	\| \|[[Query Model String>>\|\|anchor="HQueryModelString28QMS29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QMS\|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %)✓\| \| \|Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)
	209	\| \|[[Query Firmware Version>>\|\|anchor="HQueryFirmware28QF29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QF\|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %)✓\| \| \|
	210	\| \|[[Query Serial Number>>\|\|anchor="HQuerySerialNumber28QN29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QN\|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %)✓\| \| \|Returns the unique serial number for the servo
93.1	211
193.1	212	\|(% colspan="10" style="color:orange; font-size:18px" %)[[RGB LED>>\|\|anchor="HRGBLED"]]
172.1	213	\|(% style="width:25px" %) \|(% style="width:200px" %)Description\|(% style="text-align:center; width:100px" %)Action\|(% style="text-align:center; width:75px" %)Query\|(% style="text-align:center; width:75px" %)Config\|(% style="text-align:center; width:75px" %)RC\|(% style="text-align:center; width:75px" %)Serial\|(% style="width:100px" %)Default\|(% style="width:170px" %)Unit\|Notes
193.1	214	\| \|[[LED Color>>\|\|anchor="HLEDColor28LED29"]]\|(% style="text-align:center" %)LED\|(% style="text-align:center" %)QLED\|(% style="text-align:center" %)CLED\|(% style="text-align:center" %)✓\|(% style="text-align:center" %)✓\| \|0 to 7 integer\|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White
199.1	215	\| \|[[Configure LED Blinking>>\|\|anchor="HConfigureLEDBlinking28CLB29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %)CLB\|(% style="text-align:center" %)✓\|(% style="text-align:center" %)✓\| \|0 to 63 integer\|Reset required after change. See command for details.
96.1	216
172.1	217	= (% style="color:inherit; font-family:inherit" %)Details(%%) =
1.1	218
172.1	219	== (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) ==
1.1	220
172.1	221	====== __Reset__ ======
1.1	222
172.1	223	{{html wiki="true" clean="false"}}
	224	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
190.3	225	Ex: #5RESET<cr><div class="wikimodel-emptyline"></div>
172.1	226	This command does a "soft reset" and reverts all commands to those stored in EEPROM (i.e. configuration commands).
	227	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.<div class="wikimodel-emptyline"></div>
	228	</div></div>
	229	{{/html}}
1.1	230
172.1	231	====== __Default & confirm__ ======
1.1	232
172.1	233	{{html wiki="true" clean="false"}}
	234	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
190.3	235	Ex: #5DEFAULT<cr><div class="wikimodel-emptyline"></div>
1.1	236
172.1	237	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.<div class="wikimodel-emptyline"></div>
1.1	238
190.3	239	EX: #5DEFAULT<cr> followed by #5CONFIRM<cr><div class="wikimodel-emptyline"></div>
1.1	240
172.1	241	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.<div class="wikimodel-emptyline"></div>
1.1	242
172.1	243	Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.<div class="wikimodel-emptyline"></div>
	244	</div></div>
	245	{{/html}}
1.1	246
172.1	247	====== __Update & confirm__ ======
72.1	248
172.1	249	{{html wiki="true" clean="false"}}
	250	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
190.3	251	Ex: #5UPDATE<cr><div class="wikimodel-emptyline"></div>
1.1	252
172.1	253	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.<div class="wikimodel-emptyline"></div>
1.1	254
190.3	255	EX: #5UPDATE<cr> followed by #5CONFIRM<cr><div class="wikimodel-emptyline"></div>
1.1	256
172.1	257	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.<div class="wikimodel-emptyline"></div>
161.1	258
172.1	259	Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.<div class="wikimodel-emptyline"></div>
	260	</div></div>
	261	{{/html}}
129.1	262
185.1	263	====== __Confirm__ ======
	264
	265	{{html wiki="true" clean="false"}}
	266	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	267	Ex: #5CONFIRM<cr><div class="wikimodel-emptyline"></div>
	268
	269	This command is used to confirm changes after a Default or Update command.<div class="wikimodel-emptyline"></div>
	270
	271	Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.<div class="wikimodel-emptyline"></div>
	272	</div></div>
	273	{{/html}}
	274
172.1	275	====== __Configure RC Mode (CRC)__ ======
129.1	276
172.1	277	{{html wiki="true" clean="false"}}
	278	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	279	This command puts the servo into RC mode (position or continuous), where it will only respond to RC PWM signal on the servo's Rx pin. In this mode, the servo will no longer accept serial commands. The servo can be placed back into smart mode by using the button menu.<div class="wikimodel-emptyline"></div>
129.1	280
172.1	281	\|Command sent\|Note
190.3	282	\|ex: #5CRC1<cr>\|Change to RC position mode.
	283	\|ex: #5CRC2<cr>\|Change to RC continuous rotation (wheel) mode.
	284	\|ex: #5CRC<cr>\|Where is any value other than 1 or 2 (or no value): stay in smart mode.<div class="wikimodel-emptyline"></div>
1.1	285
190.3	286	EX: #5CRC2<cr><div class="wikimodel-emptyline"></div>
1.1	287
190.3	288	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.<div class="wikimodel-emptyline"></div>
1.1	289
172.1	290	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.<div class="wikimodel-emptyline"></div>
	291	</div></div>
	292	{{/html}}
1.1	293
172.1	294	====== __Identification Number (ID)__ ======
1.1	295
172.1	296	{{html wiki="true" clean="false"}}
	297	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	298	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.<div class="wikimodel-emptyline"></div>
1.1	299
172.1	300	Query Identification (QID)<div class="wikimodel-emptyline"></div>
1.1	301
190.3	302	EX: #254QID<cr> might return *QID5<cr><div class="wikimodel-emptyline"></div>
1.1	303
172.1	304	When using the broadcast 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. 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.<div class="wikimodel-emptyline"></div>
1.1	305
172.1	306	Configure ID (CID)<div class="wikimodel-emptyline"></div>
1.1	307
190.3	308	Ex: #4CID5<cr><div class="wikimodel-emptyline"></div>
1.1	309
172.1	310	Setting a servo's ID in EEPROM is done via the CID command. All servos connected to the same serial bus that have 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.<div class="wikimodel-emptyline"></div>
	311	</div></div>
	312	{{/html}}
1.1	313
172.1	314	====== __Baud Rate__ ======
1.1	315
172.1	316	{{html wiki="true" clean="false"}}
	317	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	318	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 command, all servos in a project should 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.<div class="wikimodel-emptyline"></div>
1.1	319
172.1	320	Query Baud Rate (QB)<div class="wikimodel-emptyline"></div>
1.1	321
190.3	322	Ex: #5QB<cr> might return *5QB115200<cr><div class="wikimodel-emptyline"></div>
1.1	323
172.1	324	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.<div class="wikimodel-emptyline"></div>
1.1	325
172.1	326	Configure Baud Rate (CB)<div class="wikimodel-emptyline"></div>
1.1	327
172.1	328	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.<div class="wikimodel-emptyline"></div>
1.1	329
190.3	330	Ex: #5CB9600<cr><div class="wikimodel-emptyline"></div>
1.1	331
172.1	332	Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.<div class="wikimodel-emptyline"></div>
	333	</div></div>
	334	{{/html}}
1.1	335
172.1	336	== Motion ==
1.1	337
172.1	338	====== __Position in Degrees (D)__ ======
1.1	339
172.1	340	{{html wiki="true" clean="false"}}
	341	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	342	Example: #5D1456<cr><div class="wikimodel-emptyline"></div>
1.1	343
172.1	344	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) could also be used. A full circle would be from -1800 to 1800 degrees. A value of 2700 would be the same angle (absolute position) as -900, except the servo would move in a different direction. <div class="wikimodel-emptyline"></div>
1.1	345
172.1	346	Larger values are permitted and allow for multi-turn functionality using the concept of virtual position (explained above). <div class="wikimodel-emptyline"></div>
1.1	347
172.1	348	Query Position in Degrees (QD)<div class="wikimodel-emptyline"></div>
1.1	349
172.1	350	Example: #5QD<cr> might return *5QD132<cr><div class="wikimodel-emptyline"></div>
1.1	351
172.1	352	This means the servo is located at 13.2 degrees.<div class="wikimodel-emptyline"></div>
1.1	353
172.1	354	(% class="wikigeneratedid" id="H22.QueryTargetPositioninDegrees28QDT29" %)
	355	Query Target Position in Degrees (QDT)<div class="wikimodel-emptyline"></div>
1.1	356
172.1	357	Ex: #5QDT<cr> might return *5QDT6783<cr><div class="wikimodel-emptyline"></div>
1.1	358
172.1	359	The query target position command returns the target virtual position 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 with the last target position used.
	360	<div class="wikimodel-emptyline"></div></div></div>
	361	{{/html}}
1.1	362
172.1	363	====== __(Relative) Move in Degrees (MD)__ ======
1.1	364
172.1	365	{{html wiki="true" clean="false"}}
	366	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	367	Example: #5MD123<cr><div class="wikimodel-emptyline"></div>
1.1	368
172.1	369	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.
	370	<div class="wikimodel-emptyline"></div></div></div>
	371	{{/html}}
1.1	372
172.1	373	====== __Wheel Mode in Degrees (WD)__ ======
1.1	374
172.1	375	{{html wiki="true" clean="false"}}
	376	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	377	Ex: #5WD90<cr><div class="wikimodel-emptyline"></div>
1.1	378
172.1	379	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).<div class="wikimodel-emptyline"></div>
1.1	380
172.1	381	Query Wheel Mode in Degrees (QWD)<div class="wikimodel-emptyline"></div>
1.1	382
172.1	383	Ex: #5QWD<cr> might return *5QWD90<cr><div class="wikimodel-emptyline"></div>
37.1	384
172.1	385	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).
	386	<div class="wikimodel-emptyline"></div></div></div>
	387	{{/html}}
98.5	388
172.1	389	====== __Wheel Mode in RPM (WR)__ ======
98.5	390
172.1	391	{{html wiki="true" clean="false"}}
	392	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	393	Ex: #5WR40<cr><div class="wikimodel-emptyline"></div>
98.5	394
172.1	395	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).<div class="wikimodel-emptyline"></div>
1.1	396
172.1	397	Query Wheel Mode in RPM (QWR)<div class="wikimodel-emptyline"></div>
1.1	398
172.1	399	Ex: #5QWR<cr> might return *5QWR40<cr><div class="wikimodel-emptyline"></div>
1.1	400
172.1	401	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).
	402	<div class="wikimodel-emptyline"></div></div></div>
	403	{{/html}}
1.1	404
172.1	405	====== __Position in PWM (P)__ ======
1.1	406
172.1	407	{{html wiki="true" clean="false"}}
	408	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	409	Example: #5P2334<cr><div class="wikimodel-emptyline"></div>
1.1	410
172.1	411	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 signal and is further explained in the SSC-32 and [[SSC-32U manuals>>https://www.robotshop.com/media/files/pdf2/lynxmotion_ssc-32u_usb_user_guide.pdf#page=24]]. Without any modifications to configuration considered, and a ±90.0 degrees standard range where 1500 microseconds is centered, a PWM signal 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.<div class="wikimodel-emptyline"></div>
1.1	412
172.1	413	Query Position in Pulse (QP)<div class="wikimodel-emptyline"></div>
1.1	414
172.1	415	Example: #5QP<cr> might return *5QP2334<div class="wikimodel-emptyline"></div>
1.1	416
172.1	417	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.
	418	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).
	419	<div class="wikimodel-emptyline"></div></div></div>
	420	{{/html}}
1.1	421
172.1	422	====== __(Relative) Move in PWM (M)__ ======
1.1	423
172.1	424	{{html wiki="true" clean="false"}}
	425	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	426	Example: #5M1500<cr><div class="wikimodel-emptyline"></div>
1.1	427
172.1	428	The relative move in PWM command causes the servo to read its current position and move by the specified number of PWM signal. For example if the servo is set to rotate CW (default) and an M command of 1500 is sent to the servo, it will cause the servo to rotate clockwise by 90 degrees. Negative PWM value would cause the servo to rotate in the opposite configured direction.
	429	<div class="wikimodel-emptyline"></div></div></div>
	430	{{/html}}
1.1	431
172.1	432	====== __Raw Duty-cycle Move (RDM)__ ======
1.1	433
172.1	434	{{html wiki="true" clean="false"}}
	435	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	436	Example: #5RDM512<cr><div class="wikimodel-emptyline"></div>
1.1	437
172.1	438	The raw duty-cycle move command (or free move command) will rotate the servo at a specified duty cycle value in wheel mode (a.k.a. "continuous rotation") like a geared DC motor.<div class="wikimodel-emptyline"></div>
1.1	439
172.1	440	The duty values range from 0 to 1023. Negative values will rotate the servo in the opposite direction (for factory default a negative value would be counter clockwise).<div class="wikimodel-emptyline"></div>
1.1	441
172.1	442	Query Move in Duty-cycle (QMD)<div class="wikimodel-emptyline"></div>
1.1	443
172.1	444	Example: #5QMD<cr> might return *5QMD512<div class="wikimodel-emptyline"></div>
23.1	445
172.1	446	This command queries the raw duty-cycle move value. 512 value means that the motor is rotating at 50% duty-cycle.
	447	<div class="wikimodel-emptyline"></div></div></div>
	448	{{/html}}
1.1	449
172.1	450	====== __Query Status (Q)__ ======
1.1	451
172.1	452	{{html wiki="true" clean="false"}}
	453	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	454	The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.<div class="wikimodel-emptyline"></div>
1.1	455
172.1	456	Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.<div class="wikimodel-emptyline"></div>
	457	</div></div>
	458	{{/html}}
1.1	459
172.1	460	\|(% style="width:25px" %) \|*Value returned (Q)\|Status\|Detailed description
	461	\| \|ex: *5Q0<cr>\|0: Unknown\|LSS is unsure / unknown state
	462	\| \|ex: *5Q1<cr>\|1: Limp\|Motor driving circuit is not powered and horn can be moved freely
	463	\| \|ex: *5Q2<cr>\|2: Free moving\|Servo is rotating in duty motion / free move using the RDM command
	464	\| \|ex: *5Q3<cr>\|3: Accelerating\|Increasing speed from rest (or previous speed) towards travel speed
	465	\| \|ex: *5Q4<cr>\|4: Traveling\|Moving at a stable speed
	466	\| \|ex: *5Q5<cr>\|5: Decelerating\|Decreasing from travel speed towards final position.
	467	\| \|ex: *5Q6<cr>\|6: Holding\|Keeping current position
	468	\| \|ex: *5Q7<cr>\|7: Outside limits\|{More details coming soon}
	469	\| \|ex: *5Q8<cr>\|8: Stuck\|Motor cannot perform request movement at current speed setting
	470	\| \|ex: *5Q9<cr>\|9: Blocked\|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
	471	\| \|ex: *5Q10<cr>\|10: Safe Mode\|(((
	472	A safety limit has been exceeded (temperature, peak current or extended high current draw).
1.1	473
172.1	474	Send a Q1 command to know which limit has been reached (described below).
	475	)))
1.1	476
172.1	477	{{html wiki="true" clean="false"}}
	478	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	479	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.<div class="wikimodel-emptyline"></div>
	480	</div></div>
	481	{{/html}}
1.1	482
172.1	483	\|(% style="width:25px" %) \|*Value returned (Q1)\|Status\|Detailed description
	484	\| \|ex: *5Q0<cr>\|No limits have been passed\|Nothing is wrong
	485	\| \|ex: *5Q1<cr>\|Current limit has been passed\|Something cause the current to either spike, or remain too high for too long
	486	\| \|ex: *5Q2<cr>\|Input voltage detected is below or above acceptable range\|Check the voltage of your batteries or power source
	487	\| \|ex: *5Q3<cr>\|Temperature limit has been reached\|The servo is too hot to continue operating safely.
1.1	488
172.1	489	====== __Limp (L)__ ======
1.1	490
172.1	491	{{html wiki="true" clean="false"}}
	492	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	493	Example: #5L<cr><div class="wikimodel-emptyline"></div>
1.1	494
172.1	495	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>.
	496	<div class="wikimodel-emptyline"></div></div></div>
	497	{{/html}}
25.1	498
172.1	499	====== __Halt & Hold (H)__ ======
1.1	500
172.1	501	{{html wiki="true" clean="false"}}
	502	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	503	Example: #5H<cr><div class="wikimodel-emptyline"></div>
1.1	504
172.1	505	This command causes the servo to stop immediately and hold that angular position. It overrides whatever the servo might be doing at the time the command is received (accelerating, travelling, deccelerating, etc.)
	506	<div class="wikimodel-emptyline"></div></div></div>
	507	{{/html}}
15.1	508
172.1	509	== Motion Setup ==
1.1	510
172.1	511	====== __Enable Motion Profile (EM)__ ======
1.1	512
196.2	513	{{html clean="false" wiki="true"}}
172.1	514	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
197.2	515	EM1 (Enable Motion Profile #1) is the default mode of the LSS and is an easy way to control the servo's position with a single (serial) position command. This mode uses a trapezoidal motion profile which takes care of acceleration, constant speed travel and deceleration. Once the actual position is within a certain value of the target, it switches to a holding algorithm. The LSS commands for Angular Acceleration and Deceleration (AA/CAA/AD/CAD) Angular Stiffness (AS/CAS) and Angular holding stiffness (AH/CAH) affect this motion profile. Modifiers like SD/S and T can be used in EM1.<div class="wikimodel-emptyline"></div>
196.2	516
172.1	517	Ex: #5EM1<cr><div class="wikimodel-emptyline"></div>
1.1	518
197.2	519	This command enables a trapezoidal motion profile for servo #5 <div class="wikimodel-emptyline"></div>
1.1	520
172.1	521	Ex: #5EM0<cr><div class="wikimodel-emptyline"></div>
1.1	522
198.3	523	This command will disable the built-in trapezoidal motion profile. As such, the servo will move at full speed to the target position using the D/MD action commands. Modifiers like SD/S or T cannot be used in EM0 mode. By default the Filter Position Counter, or "FPC" is active in EM0 mode to smooth out its operation. EM0 is suggested for applications where an external controller will be determining all incremental intermediate positions of the servo's motion, effectively replacing a trajectory manager. To prevent having to send position commands continuously to reach the desired position in EM0/FPC active (FPC >= 2), an internal position engine (IPE) repeats the last position command.
1.1	524
198.2	525	<div class="wikimodel-emptyline"></div>
	526
172.1	527	Query Motion Profile (QEM)<div class="wikimodel-emptyline"></div>
1.1	528
172.1	529	Ex: #5QEM<cr> might return *5QEM1<cr><div class="wikimodel-emptyline"></div>
1.1	530
172.1	531	This command will query the motion profile. 0: motion profile disabled / 1: trapezoidal motion profile enabled.<div class="wikimodel-emptyline"></div>
1.1	532
172.1	533	Configure Motion Profile (CEM)<div class="wikimodel-emptyline"></div>
98.4	534
172.1	535	Ex: #5CEM0<cr><div class="wikimodel-emptyline"></div>
98.4	536
172.1	537	This command configures the motion profile and saves it in the EEPROM. The setting will be saved upon servo reset / power cycle.
	538	<div class="wikimodel-emptyline"></div></div></div>
	539	{{/html}}
98.4	540
172.1	541	====== __Filter Position Count (FPC)__ ======
98.4	542
196.2	543	{{html clean="false" wiki="true"}}
172.1	544	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
196.2	545	The FPC value relates to the depth of a first order filter (exponential weighted average) over the position change. This has the effect of slowing down both acceleration and deceleration while still allowing the LSS to try to reach the desired position at maximum power at all times. A smaller FPC value will reduce the smoothing effect and a larger value will increase it. To prevent having to send position commands continuously to reach the desired position in EM0/FPC active (FPC >= 2), an internal position engine (IPE) has been put in place, which is also active by default.
	546	<div class="wikimodel-emptyline"></div>
172.1	547	Ex: #5FPC10<cr><div class="wikimodel-emptyline"></div>
	548	This command allows the user to change the Filter Position Count value for that session. <div class="wikimodel-emptyline"></div>
98.4	549
172.1	550	Query Filter Position Count (QFPC)<div class="wikimodel-emptyline"></div>
98.4	551
172.1	552	Ex: #5QFPC<cr> might return *5QFPC10<cr><div class="wikimodel-emptyline"></div>
98.4	553
172.1	554	This command will query the Filter Position Count value.<div class="wikimodel-emptyline"></div>
98.4	555
172.1	556	Configure Filter Position Count (CFPC)<div class="wikimodel-emptyline"></div>
98.4	557
172.1	558	Ex: #5CFPC10<cr><div class="wikimodel-emptyline"></div>
98.4	559
172.1	560	This command configures the Filter Position Count value and saves it in the EEPROM. The setting will be saved upon servo reset / power cycle.
	561	<div class="wikimodel-emptyline"></div></div></div>
	562	{{/html}}
1.1	563
172.1	564	====== __Origin Offset (O)__ ======
1.1	565
172.1	566	{{html wiki="true" clean="false"}}
	567	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	568	Example: #5O2400<cr><div class="wikimodel-emptyline"></div>
1.1	569
172.1	570	This command allows you to 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).<div class="wikimodel-emptyline"></div>
1.1	571
172.1	572	[[image:LSS-servo-default.jpg]]<div class="wikimodel-emptyline"></div>
1.1	573
172.1	574	In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:<div class="wikimodel-emptyline"></div>
1.1	575
172.1	576	[[image:LSS-servo-origin.jpg]]<div class="wikimodel-emptyline"></div>
1.1	577
172.1	578	Origin Offset Query (QO)<div class="wikimodel-emptyline"></div>
1.1	579
172.1	580	Example: #5QO<cr> might return *5QO-13<div class="wikimodel-emptyline"></div>
1.1	581
172.1	582	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.<div class="wikimodel-emptyline"></div>
1.1	583
172.1	584	Configure Origin Offset (CO)<div class="wikimodel-emptyline"></div>
1.1	585
172.1	586	Example: #5CO-24<cr><div class="wikimodel-emptyline"></div>
1.1	587
172.1	588	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.
	589	<div class="wikimodel-emptyline"></div></div></div>
	590	{{/html}}
1.1	591
172.1	592	====== __Angular Range (AR)__ ======
93.1	593
172.1	594	{{html wiki="true" clean="false"}}
	595	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	596	Example: #5AR1800<cr><div class="wikimodel-emptyline"></div>
1.1	597
172.1	598	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:<div class="wikimodel-emptyline"></div>
1.1	599
172.1	600	[[image:LSS-servo-default.jpg]]<div class="wikimodel-emptyline"></div>
1.1	601
172.1	602	Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.<div class="wikimodel-emptyline"></div>
1.1	603
172.1	604	[[image:LSS-servo-ar.jpg]]<div class="wikimodel-emptyline"></div>
1.1	605
172.1	606	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:<div class="wikimodel-emptyline"></div>
1.1	607
172.1	608	[[image:LSS-servo-ar-o-1.jpg]]<div class="wikimodel-emptyline"></div>
1.1	609
172.1	610	Query Angular Range (QAR)<div class="wikimodel-emptyline"></div>
1.1	611
172.1	612	Example: #5QAR<cr> might return *5AR1800, indicating the total angular range is 180.0 degrees.<div class="wikimodel-emptyline"></div>
1.1	613
172.1	614	Configure Angular Range (CAR)<div class="wikimodel-emptyline"></div>
1.1	615
172.1	616	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.
	617	<div class="wikimodel-emptyline"></div></div></div>
	618	{{/html}}
1.1	619
172.1	620	====== __Angular Stiffness (AS)__ ======
1.1	621
172.1	622	{{html wiki="true" clean="false"}}
	623	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	624	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.<div class="wikimodel-emptyline"></div>
1.1	625
172.1	626	A higher value of "angular stiffness":<div class="wikimodel-emptyline"></div>
1.1	627
172.1	628	* The more torque will be applied to try to keep the desired position against external input / changes
	629	* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position<div class="wikimodel-emptyline"></div>
1.1	630
172.1	631	A lower value on the other hand:<div class="wikimodel-emptyline"></div>
64.1	632
172.1	633	* Causes a slower acceleration to the travel speed, and a slower deceleration
	634	* Allows the target position to deviate more from its position before additional torque is applied to bring it back<div class="wikimodel-emptyline"></div>
1.1	635
172.1	636	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.<div class="wikimodel-emptyline"></div>
1.1	637
172.1	638	Ex: #5AS-2<cr><div class="wikimodel-emptyline"></div>
1.1	639
172.1	640	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.<div class="wikimodel-emptyline"></div>
1.1	641
172.1	642	Ex: #5QAS<cr><div class="wikimodel-emptyline"></div>
1.1	643
172.1	644	Queries the value being used.<div class="wikimodel-emptyline"></div>
1.1	645
172.1	646	Ex: #5CAS-2<cr><div class="wikimodel-emptyline"></div>
98.37	647
172.1	648	Writes the desired angular stiffness value to EEPROM.
	649	<div class="wikimodel-emptyline"></div></div></div>
	650	{{/html}}
1.1	651
172.1	652	====== __Angular Holding Stiffness (AH)__ ======
1.1	653
172.1	654	{{html wiki="true" clean="false"}}
	655	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	656	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.<div class="wikimodel-emptyline"></div>
110.1	657
172.1	658	Ex: #5AH3<cr><div class="wikimodel-emptyline"></div>
109.1	659
172.1	660	This sets the holding stiffness for servo #5 to 3 for that session.<div class="wikimodel-emptyline"></div>
109.1	661
172.1	662	Query Angular Holding Stiffness (QAH)<div class="wikimodel-emptyline"></div>
1.1	663
172.1	664	Ex: #5QAH<cr> might return *5QAH3<cr><div class="wikimodel-emptyline"></div>
1.1	665
172.1	666	This returns the servo's angular holding stiffness value.<div class="wikimodel-emptyline"></div>
1.1	667
172.1	668	Configure Angular Holding Stiffness (CAH)<div class="wikimodel-emptyline"></div>
1.1	669
172.1	670	Ex: #5CAH2<cr><div class="wikimodel-emptyline"></div>
1.1	671
172.1	672	This writes the angular holding stiffness of servo #5 to 2 to EEPROM.
	673	<div class="wikimodel-emptyline"></div></div></div>
	674	{{/html}}
1.1	675
172.1	676	====== __Angular Acceleration (AA)__ ======
1.1	677
172.1	678	{{html wiki="true" clean="false"}}
	679	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	680	The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.<div class="wikimodel-emptyline"></div>
1.1	681
172.1	682	Ex: #5AA30<cr><div class="wikimodel-emptyline"></div>
1.1	683
172.1	684	This sets the angular acceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).<div class="wikimodel-emptyline"></div>
42.1	685
172.1	686	Query Angular Acceleration (QAA)<div class="wikimodel-emptyline"></div>
42.1	687
172.1	688	Ex: #5QAA<cr> might return *5QAA30<cr><div class="wikimodel-emptyline"></div>
50.1	689
172.1	690	This returns the servo's angular acceleration in degrees per second squared (°/s^^2^^).<div class="wikimodel-emptyline"></div>
42.1	691
172.1	692	Configure Angular Acceleration (CAA)<div class="wikimodel-emptyline"></div>
1.1	693
172.1	694	Ex: #5CAA30<cr><div class="wikimodel-emptyline"></div>
102.1	695
172.1	696	This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
	697	<div class="wikimodel-emptyline"></div></div></div>
	698	{{/html}}
98.36	699
172.1	700	====== __Angular Deceleration (AD)__ ======
1.1	701
172.1	702	{{html wiki="true" clean="false"}}
	703	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	704	The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.<div class="wikimodel-emptyline"></div>
1.1	705
172.1	706	Ex: #5AD30<cr><div class="wikimodel-emptyline"></div>
1.1	707
172.1	708	This sets the angular deceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).<div class="wikimodel-emptyline"></div>
1.1	709
172.1	710	Query Angular Deceleration (QAD)<div class="wikimodel-emptyline"></div>
1.1	711
172.1	712	Ex: #5QAD<cr> might return *5QAD30<cr><div class="wikimodel-emptyline"></div>
1.1	713
172.1	714	This returns the servo's angular deceleration in degrees per second squared (°/s^^2^^).<div class="wikimodel-emptyline"></div>
1.1	715
172.1	716	Configure Angular Deceleration (CAD)<div class="wikimodel-emptyline"></div>
13.1	717
172.1	718	Ex: #5CAD30<cr><div class="wikimodel-emptyline"></div>
1.1	719
172.1	720	This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
	721	<div class="wikimodel-emptyline"></div></div></div>
	722	{{/html}}
1.1	723
172.1	724	====== __Gyre Direction (G)__ ======
1.1	725
172.1	726	{{html wiki="true" clean="false"}}
	727	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	728	"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. By default: CW = 1; CCW = -1.<div class="wikimodel-emptyline"></div>
1.1	729
172.1	730	Ex: #5G-1<cr><div class="wikimodel-emptyline"></div>
12.1	731
172.1	732	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.<div class="wikimodel-emptyline"></div>
98.2	733
172.1	734	Query Gyre Direction (QG)<div class="wikimodel-emptyline"></div>
98.37	735
172.1	736	Ex: #5QG<cr> might return *5QG-1<cr><div class="wikimodel-emptyline"></div>
113.1	737
172.1	738	The value returned above means the servo is in a counter-clockwise gyration. Sending a #5WR30 command will rotate the servo in a counter-clockwise gyration at 30 RPM.<div class="wikimodel-emptyline"></div>
98.2	739
172.1	740	Configure Gyre (CG)<div class="wikimodel-emptyline"></div>
98.2	741
172.1	742	Ex: #5CG-1<cr><div class="wikimodel-emptyline"></div>
98.2	743
172.1	744	This changes the gyre direction as described above and also writes to EEPROM.
	745	<div class="wikimodel-emptyline"></div></div></div>
	746	{{/html}}
98.2	747
172.1	748	====== __First Position__ ======
98.2	749
172.1	750	{{html wiki="true" clean="false"}}
	751	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	752	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. <div class="wikimodel-emptyline"></div>
98.2	753
172.1	754	Query First Position in Degrees (QFD)<div class="wikimodel-emptyline"></div>
98.2	755
172.1	756	Ex: #5QFD<cr> might return *5QFD900<cr> <div class="wikimodel-emptyline"></div>
98.2	757
172.1	758	The reply above indicates that servo with ID 5 has a first position of 90.0 degrees. If there is no first position value stored, the reply will be DIS.<div class="wikimodel-emptyline"></div>
98.2	759
172.1	760	Configure First Position in Degrees (CFD)<div class="wikimodel-emptyline"></div>
98.2	761
190.2	762	Ex: #5CFD900<cr><div class="wikimodel-emptyline"></div>
98.2	763
172.1	764	This configuration command means the servo, when set to smart mode, will immediately move to 90.0 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>
	765	<div class="wikimodel-emptyline"></div></div></div>
	766	{{/html}}
98.2	767
185.2	768	====== __Maximum Motor Duty (MMD)__ ======
	769
	770	{{html wiki="true" clean="false"}}
	771	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	772	This command allows the user to limit the duty cycle value sent from the servo's MCU to the DC Motor driver. The duty cycle limit value can be within the range of 255 to 1023. The default value is 1023. A typical use-case for this command is active compliance.<div class="wikimodel-emptyline"></div>
	773
190.2	774	Ex: #5MMD512<cr><div class="wikimodel-emptyline"></div>
	775
	776	This will set the duty-cycle to 512 for servo with ID 5 for that session.<div class="wikimodel-emptyline"></div>
	777
185.2	778	Query Maximum Motor Duty (QMMD)<div class="wikimodel-emptyline"></div>
	779
	780	Ex: #5QMMDD<cr> might return *5QMMD512<cr> <div class="wikimodel-emptyline"></div>
	781
196.1	782	This command returns the configured limit of the duty cycle value sent from the servo's MCU to the Motor Controller. The default value is 1023.
189.1	783	<div class="wikimodel-emptyline"></div></div></div>
	784	{{/html}}
185.2	785
172.1	786	====== __Maximum Speed in Degrees (SD)__ ======
98.2	787
172.1	788	{{html wiki="true" clean="false"}}
	789	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	790	Ex: #5SD1800<cr><div class="wikimodel-emptyline"></div>
	791	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.<div class="wikimodel-emptyline"></div>
98.2	792
172.1	793	Query Speed in Degrees (QSD)<div class="wikimodel-emptyline"></div>
98.2	794
172.1	795	Ex: #5QSD<cr> might return *5QSD1800<cr><div class="wikimodel-emptyline"></div>
98.2	796
172.1	797	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. 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:<div class="wikimodel-emptyline"></div>
98.2	798
172.1	799	\|Command sent\|Returned value (1/10 °)
	800	\|ex: #5QSD<cr>\|Session value for maximum speed (set by latest SD/SR command)
	801	\|ex: #5QSD1<cr>\|Configured maximum speed in EEPROM (set by CSD/CSR)
	802	\|ex: #5QSD2<cr>\|Instantaneous speed (same as QWD)
	803	\|ex: #5QSD3<cr>\|Target travel speed<div class="wikimodel-emptyline"></div>
98.2	804
172.1	805	Configure Speed in Degrees (CSD)<div class="wikimodel-emptyline"></div>
98.2	806
172.1	807	Ex: #5CSD1800<cr><div class="wikimodel-emptyline"></div>
	808	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.<div class="wikimodel-emptyline"></div>
	809	</div></div>
	810	{{/html}}
98.2	811
172.1	812	====== __Maximum Speed in RPM (SR)__ ======
98.2	813
172.1	814	{{html wiki="true" clean="false"}}
	815	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	816	Ex: #5SR45<cr><div class="wikimodel-emptyline"></div>
	817	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. SR overrides CSR (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSR 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.<div class="wikimodel-emptyline"></div>
98.2	818
172.1	819	Query Speed in RPM (QSR)<div class="wikimodel-emptyline"></div>
98.2	820
172.1	821	Ex: #5QSR<cr> might return *5QSR45<cr><div class="wikimodel-emptyline"></div>
98.2	822
172.1	823	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. 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:<div class="wikimodel-emptyline"></div>
98.2	824
172.1	825	\|Command sent\|Returned value (1/10 °)
	826	\|ex: #5QSR<cr>\|Session value for maximum speed (set by latest SD/SR command)
	827	\|ex: #5QSR1<cr>\|Configured maximum speed in EEPROM (set by CSD/CSR)
	828	\|ex: #5QSR2<cr>\|Instantaneous speed (same as QWD)
	829	\|ex: #5QSR3<cr>\|Target travel speed<div class="wikimodel-emptyline"></div>
111.1	830
172.1	831	Configure Speed in RPM (CSR)<div class="wikimodel-emptyline"></div>
111.1	832
172.1	833	Ex: #5CSR45<cr><div class="wikimodel-emptyline"></div>
	834	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.<div class="wikimodel-emptyline"></div>
	835	</div></div>
	836	{{/html}}
111.1	837
172.1	838	== Modifiers ==
111.1	839
172.1	840	====== __Speed (S, SD) modifier__ ======
111.1	841
172.1	842	{{html wiki="true" clean="false"}}
	843	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	844	Example: #5P1500S750<cr><div class="wikimodel-emptyline"></div>
	845	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.<div class="wikimodel-emptyline"></div>
	846	Example: #5D0SD180<cr><div class="wikimodel-emptyline"></div>
	847	Modifier (SD) 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.<div class="wikimodel-emptyline"></div>
	848	Query Speed (QS)<div class="wikimodel-emptyline"></div>
	849	Example: #5QS<cr> might return *5QS300<cr><div class="wikimodel-emptyline"></div>
	850	This command queries the current speed in microseconds per second.<div class="wikimodel-emptyline"></div>
	851	</div></div>
	852	{{/html}}
98.2	853
172.1	854	====== __Timed move (T) modifier__ ======
98.2	855
172.1	856	{{html wiki="true" clean="false"}}
	857	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	858	Example: #5P1500T2500<cr><div class="wikimodel-emptyline"></div>
111.1	859
172.1	860	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.<div class="wikimodel-emptyline"></div>
	861	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.<div class="wikimodel-emptyline"></div>
	862	</div></div>
	863	{{/html}}
111.1	864
172.1	865	====== __Current Halt & Hold (CH) modifier__ ======
111.1	866
172.1	867	{{html wiki="true" clean="false"}}
	868	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	869	Example: #5D1423CH400<cr><div class="wikimodel-emptyline"></div>
111.1	870
172.1	871	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.<div class="wikimodel-emptyline"></div>
	872	This modifier can be added to the following actions: D; MD; WD; WR.<div class="wikimodel-emptyline"></div>
	873	</div></div>
	874	{{/html}}
111.1	875
172.1	876	====== __Current Limp (CL) modifier__ ======
98.2	877
172.1	878	{{html wiki="true" clean="false"}}
	879	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	880	Example: #5D1423CL400<cr><div class="wikimodel-emptyline"></div>
98.2	881
172.1	882	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.<div class="wikimodel-emptyline"></div>
	883	This modifier can be added to the following actions: D; MD; WD; WR.<div class="wikimodel-emptyline"></div>
	884	</div></div>
	885	{{/html}}
115.1	886
172.1	887	== Telemetry ==
98.2	888
172.1	889	====== __Query Voltage (QV)__ ======
98.2	890
172.1	891	{{html wiki="true" clean="false"}}
	892	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	893	Ex: #5QV<cr> might return *5QV11200<cr><div class="wikimodel-emptyline"></div>
	894	The number returned is in milliVolts, so in the case above, servo with ID 5 has an input voltage of 11.2V.<div class="wikimodel-emptyline"></div>
	895	</div></div>
	896	{{/html}}
98.37	897
172.1	898	====== __Query Temperature (QT)__ ======
98.2	899
172.1	900	{{html wiki="true" clean="false"}}
	901	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	902	Ex: #5QT<cr> might return *5QT564<cr><div class="wikimodel-emptyline"></div>
	903	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.<div class="wikimodel-emptyline"></div>
	904	</div></div>
	905	{{/html}}
108.1	906
172.1	907	====== __Query Current (QC)__ ======
140.1	908
172.1	909	{{html wiki="true" clean="false"}}
	910	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	911	Ex: #5QC<cr> might return *5QC140<cr><div class="wikimodel-emptyline"></div>
	912	The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.<div class="wikimodel-emptyline"></div>
	913	</div></div>
	914	{{/html}}
148.1	915
172.1	916	====== __Query Model String (QMS)__ ======
148.1	917
172.1	918	{{html wiki="true" clean="false"}}
	919	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	920	Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr><div class="wikimodel-emptyline"></div>
	921	This reply means that the servo model is LSS-HS1: a high speed servo, first revision.<div class="wikimodel-emptyline"></div>
	922	</div></div>
	923	{{/html}}
148.1	924
172.1	925	====== __Query Firmware (QF)__ ======
148.1	926
172.1	927	{{html wiki="true" clean="false"}}
	928	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	929	Ex: #5QF<cr> might return *5QF368<cr><div class="wikimodel-emptyline"></div>
	930	The number in the reply represents the firmware version, in this example being 368.<div class="wikimodel-emptyline"></div>
	931	The command #5QF3<cr> can also be sent and the servo will reply with a 3 numbers firmware version, for example, 368.29.14<div class="wikimodel-emptyline"></div>
	932	</div></div>
	933	{{/html}}
148.1	934
172.1	935	====== __Query Serial Number (QN)__ ======
148.1	936
172.1	937	{{html wiki="true" clean="false"}}
	938	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	939	Ex: #5QN<cr> might return *5QN12345678<cr><div class="wikimodel-emptyline"></div>
	940	The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.<div class="wikimodel-emptyline"></div>
	941	</div></div>
	942	{{/html}}
148.1	943
172.1	944	== RGB LED ==
148.1	945
172.1	946	====== __LED Color (LED)__ ======
	947
	948	{{html wiki="true" clean="false"}}
	949	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	950	Ex: #5LED3<cr><div class="wikimodel-emptyline"></div>
	951	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.<div class="wikimodel-emptyline"></div>
	952	0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;<div class="wikimodel-emptyline"></div>
	953	Query LED Color (QLED)<div class="wikimodel-emptyline"></div>
	954	Ex: #5QLED<cr> might return *5QLED5<cr><div class="wikimodel-emptyline"></div>
	955	This simple query returns the indicated servo's LED color.<div class="wikimodel-emptyline"></div>
	956	Configure LED Color (CLED)<div class="wikimodel-emptyline"></div>
	957	Ex: #5CLED3<cr><div class="wikimodel-emptyline"></div>
	958	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. The command above will configure the servo's LED to a Blue color.<div class="wikimodel-emptyline"></div>
	959	</div></div>
	960	{{/html}}
	961
	962	====== __Configure LED Blinking (CLB)__ ======
	963
	964	{{html wiki="true" clean="false"}}
	965	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	966	This command allows you to control when the RGB LED will blink the user set color (see RGB LED command 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:<div class="wikimodel-emptyline"></div>
	967
	968	(% style="width:195px" %)
	969	\|(% style="width:134px" %)Blink While:\|(% style="width:58px" %)#
	970	\|(% style="width:134px" %)No blinking\|(% style="width:58px" %)0
	971	\|(% style="width:134px" %)Limp\|(% style="width:58px" %)1
	972	\|(% style="width:134px" %)Holding\|(% style="width:58px" %)2
	973	\|(% style="width:134px" %)Accelerating\|(% style="width:58px" %)4
	974	\|(% style="width:134px" %)Decelerating\|(% style="width:58px" %)8
	975	\|(% style="width:134px" %)Free\|(% style="width:58px" %)16
	976	\|(% style="width:134px" %)Travelling\|(% style="width:58px" %)32
	977	\|(% style="width:134px" %)Always blink\|(% style="width:58px" %)63<div class="wikimodel-emptyline"></div>
	978
	979	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:<div class="wikimodel-emptyline"></div>
	980	Ex: #5CLB0<cr> to turn off all blinking (LED always solid)<div class="wikimodel-emptyline"></div>
	981	Ex: #5CLB1<cr> only blink when limp (1)<div class="wikimodel-emptyline"></div>
	982	Ex: #5CLB2<cr> only blink when holding (2)<div class="wikimodel-emptyline"></div>
	983	Ex: #5CLB12<cr> only blink when accel or decel (accel 4 + decel 8 = 12)<div class="wikimodel-emptyline"></div>
	984	Ex: #5CLB48<cr> only blink when free or travel (free 16 + travel 32 = 48)<div class="wikimodel-emptyline"></div>
	985	Ex: #5CLB63<cr> blink in all status (1 + 2 + 4 + 8 + 16 + 32)<div class="wikimodel-emptyline"></div>
	986	RESETTING the servo is needed.<div class="wikimodel-emptyline"></div>
	987	</div></div>
	988	{{/html}}
	989
188.1	990	== RGB LED Patterns ==
140.1	991
143.1	992	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]]
	993
141.2	994	[[image:LSS - LED Patterns.png]]

Wiki source code of LSS - Communication Protocol

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