Wiki source code of LSS Communication Protocol

Version 213.1 by Eric Nantel on 2024/11/21 09:18

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
213.1	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>>path:#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
213.1	12	\|(% colspan="2" %)(((
64.2	13	== Session ==
213.1	14	)))
	15	\|(% style="width:25px" %) \|(((
	16	A "session" is defined as the time between when the servo is powered ON to when it is powered OFF or reset.
1.1	17
213.1	18	Note 1: For a given session, the action related to a specific command overrides the stored value in EEPROM.
1.1	19
213.1	20	Note 2: During the power-on / reset process the LSS cannot accept commands for a small amount of time (1.25 s).
96.1	21
213.1	22	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.
	23	)))
	24
	25	\|(% colspan="2" %)(((
1.1	26	== Action Commands ==
213.1	27	)))
	28	\|(% style="width:25px" %) \|(((
	29	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>>url:https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-v2/lynxmotion-smart-servo/lss-communication-protocol/#HVirtualAngularPosition]] (described below). Action commands are sent serially to the servo's Rx pin and must be sent in the following format:
1.1	30
213.1	31	1. Start with a number sign # (Unicode Character: U+0023)
194.2	32	1. Servo ID number as an integer (assigning an ID described below)
	33	1. Action command (one or more letters, no whitespace, capital or lowercase from the list below)
1.1	34	1. Action value in the correct units with no decimal
213.1	35	1. End with a carriage return \r or <cr> Unicode Character (U+000D)
1.1	36
213.1	37	Ex: #5D1800<cr>
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.
213.1	40	)))
1.1	41
213.1	42	\|(% colspan="2" %)(((
172.1	43	== Modifiers ==
213.1	44	)))
	45	\|(% style="width:25px" %) \|(((
	46	Modifiers can only be used with certain action commands. The format to include a modifier is:
1.1	47
213.1	48	1. Start with a number sign # (Unicode Character: U+0023)
1.1	49	1. Servo ID number as an integer
194.2	50	1. Action command (one to three letters, no spaces, capital or lowercase from a subset of action commands below)
1.1	51	1. Action value in the correct units with no decimal
213.1	52	1. Modifier command (one or two letters from the list of modifiers below)
1.1	53	1. Modifier value in the correct units with no decimal
213.1	54	1. End with a carriage return \r or <cr> Unicode Character (U+000D)
1.1	55
213.1	56	Ex: #5D1800T1500<cr>
1.1	57
213.1	58	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).
	59	)))
1.1	60
213.1	61	\|(% colspan="2" %)(((
1.1	62	== Query Commands ==
213.1	63	)))
	64	\|(% style="width:25px" %) \|(((
	65	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:
1.1	66
213.1	67	1. Start with a number sign # (Unicode Character: U+0023)
1.1	68	1. Servo ID number as an integer
172.1	69	1. Query command (one to four letters, no spaces, capital or lower case)
213.1	70	1. End with a carriage return \r or <cr> Unicode Character (U+000D)
1.1	71
213.1	72	Ex: #5QD<cr> Query the position in (tenth of) degrees for servo with ID #5
1.1	73
93.1	74	The query will return a serial string (almost instantaneously) via the servo's Tx pin with the following format:
1.1	75
172.1	76	1. Start with an asterisk * (Unicode Character: U+0023)
1.1	77	1. Servo ID number as an integer
172.1	78	1. Query command (one to four letters, no spaces, capital letters)
1.1	79	1. The reported value in the units described, no decimals.
213.1	80	1. End with a carriage return \r or <cr> Unicode Character (U+000D)
1.1	81
213.1	82	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:
93.1	83
213.1	84	Ex: *5QD1800<cr>
1.1	85
172.1	86	This indicates that servo #5 is currently at 180.0 degrees (1800 tenths of degrees).
213.1	87	)))
1.1	88
213.1	89	\|(% colspan="2" %)(((
96.1	90	== Configuration Commands ==
213.1	91	)))
	92	\|(% style="width:25px" %) \|(((
	93	Configuration commands and corresponding values affect a servo's defaults which are written to and read from the servo's EEPROM.
96.1	94
213.1	95	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>>url:https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-radio-control-pwm/]]. 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.
96.1	96
213.1	97	The format to send a configuration command is identical to that of an action command:
172.1	98
213.1	99	1. Start with a number sign # (Unicode Character: U+0023)
96.1	100	1. Servo ID number as an integer
172.1	101	1. Configuration command (two to four letters, no spaces, capital or lower case)
96.1	102	1. Configuration value in the correct units with no decimal
213.1	103	1. End with a carriage return \r or <cr> Unicode Character (U+000D)
96.1	104
213.1	105	Ex: #5CO-50<cr>
96.1	106
213.1	107	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).
96.1	108
213.1	109	Session vs Configuration Query
1.1	110
213.1	111	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:
1.1	112
213.1	113	Ex: #5CSR20<cr> immediately sets the maximum speed for servo #5 to 20rpm (explained below) and changes the value in memory.
1.1	114
213.1	115	After RESET, a command of #5SR4<cr> sets the session's speed to 4rpm, but does not change the configuration value in memory. Therefore:
1.1	116
213.1	117	#5QSR<cr> or #5QSR0<cr> would return *5QSR4<cr> which represents the value for that session, whereas
1.1	118
213.1	119	#5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
	120	)))
56.1	121
213.1	122	\|(% colspan="2" %)(((
65.2	123	== Virtual Angular Position ==
213.1	124	)))
	125	\|(% style="width:25px" %) \|(((
	126	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).
56.1	127
213.1	128	[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-v2/lynxmotion-smart-servo/lss-communication-protocol/WebHome/LSS-servo-positions.jpg\|\|alt="LSS-servo-positions.jpg"]]
56.1	129
213.1	130	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:
56.1	131
213.1	132	#1D-300<cr> This causes the servo to move to -30.0 degrees (green arrow)
56.1	133
213.1	134	#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
56.1	135
213.1	136	#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.
56.1	137
213.1	138	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.
56.1	139
213.1	140	#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.
56.1	141
213.1	142	#1D3300<cr> would cause the servo to rotate from 480.0 degrees to 330.0 degrees (yellow arrow).
56.1	143
172.1	144	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°].
213.1	145	)))
1.1	146
	147	= Command List =
	148
213.1	149	Latest firmware version currently : 370
99.1	150
213.1	151	\|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Communication Setup>>path:#HCommunicationSetup]]
	152	\| \|Description\|Action\|Query\|Config\|RC\|Serial\|Default\|Unit\|Notes
	153	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Reset>>path:#HReset]]\|RESET\| \| \| \|✓\| \| \|Soft reset. See command for details.
	154	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Default Configuration>>path:#HDefault26confirm]]\|DEFAULT\| \| \| \|✓\| \| \|Revert to firmware default values. See command for details
	155	\| \|[[Firmware (% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Update Mode>>path:#HUpdate26confirm]]\|UPDATE\| \| \| \|✓\| \| \|Update firmware. See command for details.
	156	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Confirm Changes>>path:#HConfirm]]\|CONFIRM\| \| \| \|✓\| \| \|
	157	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Change to RC>>path:#HConfigureRCMode28CRC29]]\| \| \|CRC\| \|✓\| \| \|Change to RC mode 1 (position) or 2 (wheel).
	158	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)ID #>>path:#HIdentificationNumber28ID29]]\| \|QID\|CID\| \|✓\|0\| \|Reset required after change. ID 254 is a "broadcast" which all servos respond to.
	159	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Baudrate>>path:#HBaudRate]]\| \|QB\|CB\| \|✓\|115200\| \|Reset required after change.
94.1	160
213.1	161	\|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Motion>>path:#HMotion]]
	162	\| \|Description\|Action\|Query\|Config\|RC\|Serial\|Default\|Unit\|Notes
	163	\| \|[[Position in (% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Degrees>>path:#HPositioninDegrees28D29]]\|D\|QD/QDT\| \| \|✓\| \|1/10°\|
	164	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Move in Degrees (relative)>>path:#H28Relative29MoveinDegrees28MD29]]\|MD\| \| \| \|✓\| \|1/10°\|
	165	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Wheel mode in Degrees>>path:#HWheelModeinDegrees28WD29]]\|WD\|QWD/QVT\| \| \|✓\| \|°/s\|A.K.A. "Speed mode" or "Continuous rotation"
	166	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Wheel mode in RPM>>path:#HWheelModeinRPM28WR29]]\|WR\|QWR\| \| \|✓\| \|RPM\|A.K.A. "Speed mode" or "Continuous rotation"
	167	\| \|[[Position in (% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)PWM>>path:#HPositioninPWM28P29]]\|P\|QP\| \| \|✓\| \|us\|Inherited from SSC-32 serial protocol
	168	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Move in PWM (relative)>>path:#H28Relative29MoveinPWM28M29]]\|M\| \| \| \|✓\| \|us\|
	169	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Raw Duty-cycle Move>>path:#HRawDuty-cycleMove28RDM29]]\|RDM\|QMD\| \| \|✓\| \|-1023 to 1023 integer\|Positive values : CW / Negative values : CCW
	170	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Query Status>>path:#HQueryStatus28Q29]]\| \|Q\| \| \|✓\| \|1 to 8 integer\|See command description for details
	171	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Limp>>path:#HLimp28L29]]\|L\| \| \| \|✓\| \| \|
	172	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Halt & Hold>>path:#HHalt26Hold28H29]]\|H\| \| \| \|✓\| \| \|
94.1	173
213.1	174	\|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Motion Setup>>path:#HMotionSetup]]
	175	\| \|Description\|Action\|Query\|Config\|RC\|Serial\|Default\|Unit\|Notes
	176	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Enable Motion Profile>>path:#HEnableMotionProfile28EM29]]\|EM\|QEM\|CEM\| \|✓\|1\| \|EM1: trapezoidal motion profile / EM0: no motion profile
	177	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Filter Position Count>>path:#HFilterPositionCount28FPC29]]\|FPC\|QFPC\|CFPC\|✓\|✓\|5\| \|Affects motion only when motion profile is disabled (EM0)
	178	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Origin Offset>>path:#HOriginOffset28O29]]\|O\|QO\|CO\|✓\|✓\|0\|1/10°\|
	179	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Angular Range>>path:#HAngularRange28AR29]]\|AR\|QAR\|CAR\|✓\|✓\|1800\|1/10°\|
	180	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Angular Stiffness>>path:#HAngularStiffness28AS29]]\|AS\|QAS\|CAS\|✓\|✓\|0\|-4 to +4 integer\|Suggested values are between 0 to +4
	181	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Angular Holding Stiffness>>path:#HAngularHoldingStiffness28AH29]]\|AH\|QAH\|CAH\|✓\|✓\|4\|-10 to +10 integer\|
	182	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Angular Acceleration>>path:#HAngularAcceleration28AA29]]\|AA\|QAA\|CAA\| \|✓\|100\|°/s^^2^^\|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
	183	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Angular Deceleration>>path:#HAngularDeceleration28AD29]]\|AD\|QAD\|CAD\| \|✓\|100\|°/s^^2^^\|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
	184	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Gyre Direction>>path:#HGyreDirection28G29]]\|G\|QG\|CG\|✓\|✓\|1\| \|Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)
	185	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)First Position (Deg)>>path:#HFirstPosition]]\| \|QFD\|CFD\|✓\|✓\|No value\|1/10°\|Reset required after change.
	186	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Maximum Motor Duty>>path:#HMaximumMotorDuty28MMD29]]\|MMD\|QMMD\| \| \|✓\|1023\|255 to 1023 integer\|
	187	\| \|[[Maximum (% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Speed in Degrees>>path:#HMaximumSpeedinDegrees28SD29]]\|SD\|QSD\|CSD\|✓\|✓\|Max\|0.1°/s\|SD overwrites SR / CSD overwrites CSR and vice-versa
	188	\| \|[[Maximum (% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Speed in RPM>>path:#HMaximumSpeedinRPM28SR29]]\|SR\|QSR\|CSR\|✓\|✓\|Max\|RPM\|SD overwrites SR / CSD overwrites CSR and vice-versa
1.1	189
213.1	190	\|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Modifiers>>path:#HModifiers]]
	191	\| \|Description\|Modifier\|Query\|Config\|RC\|Serial\|Default\|Unit\|Notes
	192	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Speed>>path:#HSpeed28S2CSD29modifier]]\|S\|QS\| \| \|✓\| \|uS/s \|For P action command
	193	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Speed in Degrees>>path:#HSpeed28S2CSD29modifier]]\|SD\| \| \| \|✓\| \|0.1°/s\|For D and MD action commands
	194	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Timed move>>path:#HTimedmove28T29modifier]]\|T\| \| \| \|✓\| \|ms\|Modifier only for P, D and MD. Time can change based on load
	195	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Current Hold>>path:#HCurrentHalt26Hold28CH29modifier]]\|CH\| \| \| \|✓\| \|mA\|Modifier for D, MD, WD and WR
	196	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Current Limp>>path:#HCurrentLimp28CL29modifier]]\|CL\| \| \| \|✓\| \|mA\|Modifier for D, MD, WD and WR
93.1	197
213.1	198	\|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Telemetry>>path:#HTelemetry]]
	199	\| \|Description\|Action\|Query\|Config\|RC\|Serial\|Default\|Unit\|Notes
	200	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Query Voltage>>path:#HQueryVoltage28QV29]]\| \|QV\| \| \|✓\| \|mV\|
	201	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Query Temperature>>path:#HQueryTemperature28QT29]]\| \|QT\| \| \|✓\| \|1/10°C\|
	202	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Query Current>>path:#HQueryCurrent28QC29]]\| \|QC\| \| \|✓\| \|mA\|
	203	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Query Model String>>path:#HQueryModelString28QMS29]]\| \|QMS\| \| \|✓\| \| \|Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)
	204	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Query Firmware Version>>path:#HQueryFirmware28QF29]]\| \|QF\| \| \|✓\| \| \|
93.1	205
213.1	206	\|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)RGB LED>>path:#HRGBLED]]
	207	\| \|Description\|Action\|Query\|Config\|RC\|Serial\|Default\|Unit\|Notes
	208	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)LED Color>>path:#HLEDColor28LED29]]\|LED\|QLED\|CLED\|✓\|✓\| \|0 to 7 integer\|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White
	209	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Configure LED Blinking>>path:#HConfigureLEDBlinking28CLB29]]\| \| \|CLB\|✓\|✓\| \|0 to 63 integer\|Reset required after change. See command for details.
96.1	210
213.1	211	= Details =
1.1	212
213.1	213	== Communication Setup ==
1.1	214
213.1	215	\|(% colspan="2" %)(((
	216	====== Reset ======
	217	)))
	218	\|(% style="width:30px" %) \|(((
	219	Ex: #5RESET<cr>
1.1	220
213.1	221	This command does a "soft reset" and reverts all commands to those stored in EEPROM (i.e. configuration commands). 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>>url:https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-v2/lynxmotion-smart-servo/lss-communication-protocol/#HSession]], note #2 for more details.
	222	)))
1.1	223
213.1	224	\|(% colspan="2" %)(((
	225	====== Default & confirm ======
	226	)))
	227	\|(% style="width:30px" %) \|(((
	228	Ex: #5DEFAULT<cr>
1.1	229
213.1	230	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.
1.1	231
213.1	232	Ex: #5DEFAULT<cr> followed by #5CONFIRM<cr>
1.1	233
213.1	234	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.
1.1	235
213.1	236	Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
	237	)))
1.1	238
213.1	239	\|(% colspan="2" %)(((
	240	====== Update & confirm ======
	241	)))
	242	\|(% style="width:30px" %) \|(((
	243	Ex: #5UPDATE<cr>
1.1	244
213.1	245	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.
72.1	246
213.1	247	Ex: #5UPDATE<cr> followed by #5CONFIRM<cr>
1.1	248
213.1	249	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.
1.1	250
213.1	251	Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
	252	)))
1.1	253
213.1	254	\|(% colspan="2" %)(((
	255	====== Confirm ======
	256	)))
	257	\|(% style="width:30px" %) \|(((
	258	Ex: #5CONFIRM<cr>
161.1	259
213.1	260	This command is used to confirm changes after a Default or Update command.
129.1	261
213.1	262	Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
	263	)))
185.1	264
213.1	265	\|(% colspan="2" %)(((
	266	====== Configure RC Mode (CRC) ======
	267	)))
	268	\|(% style="width:30px" %) \|(((
	269	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.
185.1	270
213.1	271	Ex: #5CRC1<cr>
185.1	272
213.1	273	Change to RC position mode.
185.1	274
213.1	275	Ex: #5CRC2<cr>
129.1	276
213.1	277	Change to RC continuous rotation (wheel) mode.
129.1	278
213.1	279	Ex: #5CRC*<cr>
1.1	280
213.1	281	Where * is any value other than 1 or 2 (or no value): stay in smart mode
1.1	282
213.1	283	Ex: #5CRC2<cr>
1.1	284
213.1	285	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.
1.1	286
213.1	287	Important note: To revert from RC mode back to serial mode, the [[LSS - Button Menu>>url:https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-button-menu/]] 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.
	288	)))
1.1	289
213.1	290	\|(% colspan="2" %)(((
	291	====== Identification Number (ID) ======
	292	)))
	293	\|(% style="width:30px" %) \|(((
	294	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.
1.1	295
213.1	296	Query Identification (QID)
1.1	297
213.1	298	EX: #254QID<cr> might return *QID5<cr>
1.1	299
213.1	300	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.
1.1	301
213.1	302	Configure ID (CID)
1.1	303
213.1	304	Ex: #4CID5<cr>
1.1	305
213.1	306	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.
	307	)))
1.1	308
213.1	309	\|(% colspan="2" %)(((
	310	====== Baud Rate ======
	311	)))
	312	\|(% style="width:30px" %) \|(((
	313	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, 750.0 kbps, 921.6 kbps. Servos are shipped with a baud rate set to 115200.
1.1	314
213.1	315	Query Baud Rate (QB)
1.1	316
213.1	317	Ex: #5QB<cr> might return *5QB115200<cr>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.
1.1	318
213.1	319	Configure Baud Rate (CB)
1.1	320
213.1	321	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.
1.1	322
213.1	323	Ex: #5CB9600<cr>
1.1	324
213.1	325	Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
	326	)))
1.1	327
213.1	328	\|(% colspan="2" %)(((
207.1	329	====== __Automatic Baud Rate__ ======
213.1	330	)))
	331	\|(% style="width:30px" %) \|(((
	332	This option allows the LSS to listen to it's serial input and select the right baudrate automatically.
207.1	333
213.1	334	Query Automatic Baud Rate (QABR)
208.1	335
213.1	336	Ex: #5QABR<cr> might return *5ABR0<cr>
208.1	337
213.1	338	Enable Baud Rate (ABR)
208.2	339
213.1	340	Ex: #5QABR1<cr>
208.1	341
213.1	342	Enable baudrate detection on first byte received after power-up.
208.1	343
213.1	344	Ex: #5QABR2,30<cr>Enable baudrate detection on first byte received after power-up. If no data for 30 seconds enable detection again on next byte.
209.1	345
213.1	346	Warning: ABR doesnt work well with LSS Config at the moment.
	347	)))
207.1	348
172.1	349	== Motion ==
1.1	350
213.1	351	\|(% colspan="2" %)(((
172.1	352	====== __Position in Degrees (D)__ ======
213.1	353	)))
	354	\|(% style="width:30px" %) \|(((
	355	Ex: #5D1456<cr>
1.1	356
213.1	357	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.
1.1	358
213.1	359	Larger values are permitted and allow for multi-turn functionality using the concept of virtual position (explained above).
1.1	360
213.1	361	Query Position in Degrees (QD)
1.1	362
213.1	363	Ex: #5QD<cr> might return *5QD132<cr>
1.1	364
213.1	365	This means the servo is located at 13.2 degrees.
1.1	366
213.1	367	Query Target Position in Degrees (QDT)
1.1	368
213.1	369	Ex: #5QDT<cr> might return *5QDT6783<cr>
1.1	370
172.1	371	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.
213.1	372	)))
1.1	373
213.1	374	\|(% colspan="2" %)(((
	375	====== (Relative) Move in Degrees (MD) ======
	376	)))
	377	\|(% style="width:30px" %) \|(((
	378	Ex: #5MD123<cr>
1.1	379
172.1	380	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.
213.1	381	)))
1.1	382
213.1	383	\|(% colspan="2" %)(((
	384	====== Wheel Mode in Degrees (WD) ======
	385	)))
	386	\|(% style="width:30px" %) \|(((
	387	Ex: #5WD90<cr>
1.1	388
213.1	389	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).
1.1	390
213.1	391	Query Wheel Mode in Degrees (QWD)
1.1	392
213.1	393	Ex: #5QWD<cr> might return *5QWD90<cr>
1.1	394
172.1	395	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).
213.1	396	)))
98.5	397
213.1	398	\|(% colspan="2" %)(((
	399	====== Wheel Mode in RPM (WR) ======
	400	)))
	401	\|(% style="width:30px" %) \|(((
	402	Ex: #5WR40<cr>
98.5	403
213.1	404	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).
98.5	405
213.1	406	Query Wheel Mode in RPM (QWR)
1.1	407
213.1	408	Ex: #5QWR<cr> might return *5QWR40<cr>
1.1	409
172.1	410	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).
213.1	411	)))
1.1	412
213.1	413	\|(% colspan="2" %)(((
	414	====== Position in PWM (P) ======
	415	)))
	416	\|(% style="width:30px" %) \|(((
	417	Ex: #5P2334<cr>
1.1	418
213.1	419	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>>url: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.
1.1	420
213.1	421	Query Position in Pulse (QP)
1.1	422
213.1	423	Ex: #5QP<cr> might return *5QP2334
1.1	424
213.1	425	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. 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).
	426	)))
1.1	427
213.1	428	\|(% colspan="2" %)(((
172.1	429	====== __(Relative) Move in PWM (M)__ ======
213.1	430	)))
	431	\|(% style="width:30px" %) \|(((
	432	Ex: #5M1500<cr>
1.1	433
172.1	434	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.
213.1	435	)))
1.1	436
213.1	437	\|(% colspan="2" %)(((
	438	====== Raw Duty-cycle Move (RDM) ======
	439	)))
	440	\|(% style="width:30px" %) \|(((
	441	Ex: #5RDM512<cr>
1.1	442
213.1	443	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.
1.1	444
213.1	445	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).
1.1	446
213.1	447	Query Move in Duty-cycle (QMD)
1.1	448
213.1	449	Ex: #5QMD<cr> might return *5QMD512
1.1	450
172.1	451	This command queries the raw duty-cycle move value. 512 value means that the motor is rotating at 50% duty-cycle.
213.1	452	)))
1.1	453
213.1	454	\|(% colspan="2" %)(((
	455	====== Query Status (Q) ======
	456	)))
	457	\|(% style="width:30px" %) \|(((
	458	The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
1.1	459
213.1	460	Ex: #5Q<cr> might return *5Q6<cr>
1.1	461
213.1	462	which indicates the motor is holding a position.
	463	)))
1.1	464
213.1	465	\|(% style="width:30px" %) \|*Value returned (Q)\|Status\|Detailed description
172.1	466	\| \|ex: *5Q0<cr>\|0: Unknown\|LSS is unsure / unknown state
	467	\| \|ex: *5Q1<cr>\|1: Limp\|Motor driving circuit is not powered and horn can be moved freely
	468	\| \|ex: *5Q2<cr>\|2: Free moving\|Servo is rotating in duty motion / free move using the RDM command
	469	\| \|ex: *5Q3<cr>\|3: Accelerating\|Increasing speed from rest (or previous speed) towards travel speed
	470	\| \|ex: *5Q4<cr>\|4: Traveling\|Moving at a stable speed
	471	\| \|ex: *5Q5<cr>\|5: Decelerating\|Decreasing from travel speed towards final position.
205.1	472	\| \|ex: *5Q6<cr>\|6: Holding\|Keeping current position (in EM0 mode, return will nornally be holding)
172.1	473	\| \|ex: *5Q7<cr>\|7: Outside limits\|{More details coming soon}
	474	\| \|ex: *5Q8<cr>\|8: Stuck\|Motor cannot perform request movement at current speed setting
	475	\| \|ex: *5Q9<cr>\|9: Blocked\|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
	476	\| \|ex: *5Q10<cr>\|10: Safe Mode\|(((
	477	A safety limit has been exceeded (temperature, peak current or extended high current draw).
1.1	478
172.1	479	Send a Q1 command to know which limit has been reached (described below).
	480	)))
1.1	481
213.1	482	\|(% style="width:30px" %) \|(% colspan="3" rowspan="1" %)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.
	483	\| \|*Value returned (Q1)\|Status\|Detailed description
172.1	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
213.1	489	\|(% colspan="2" %)(((
	490	====== Limp (L) ======
	491	)))
	492	\|(% style="width:30px" %) \|(((
	493	Ex: #5L<cr>
1.1	494
213.1	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	)))
1.1	497
213.1	498	\|(% colspan="2" %)(((
	499	====== Halt & Hold (H) ======
	500	)))
	501	\|(% style="width:30px" %) \|(((
	502	Example: #5H<cr>
25.1	503
172.1	504	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.)
213.1	505	)))
15.1	506
172.1	507	== Motion Setup ==
1.1	508
213.1	509	\|(% colspan="2" %)(((
	510	====== Enable Motion Profile (EM) ======
	511	)))
	512	\|(% style="width:30px" %) \|(((
	513	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.
1.1	514
213.1	515	Ex: #5EM1<cr>
196.2	516
213.1	517	This command enables a trapezoidal motion profile for servo #5
1.1	518
213.1	519	Ex: #5EM0<cr>
1.1	520
204.1	521	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. Note that in EM0 mode, the servo will effectively always be in status: Holding (if using the query status command).
1.1	522
213.1	523	Query Motion Profile (QEM)
198.2	524
213.1	525	Ex: #5QEM<cr> might return *5QEM1<cr>
1.1	526
213.1	527	This command will query the motion profile. 0: motion profile disabled / 1: trapezoidal motion profile enabled.
1.1	528
213.1	529	Configure Motion Profile (CEM)
1.1	530
213.1	531	Ex: #5CEM0<cr>
98.4	532
172.1	533	This command configures the motion profile and saves it in the EEPROM. The setting will be saved upon servo reset / power cycle.
213.1	534	)))
98.4	535
213.1	536	\|(% colspan="2" %)(((
	537	====== Filter Position Count (FPC) ======
	538	)))
	539	\|(% style="width:30px" %) \|(((
196.2	540	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.
98.4	541
213.1	542	Ex: #5FPC10<cr>
98.4	543
213.1	544	This command allows the user to change the Filter Position Count value for that session.
98.4	545
213.1	546	Query Filter Position Count (QFPC)
98.4	547
213.1	548	Ex: #5QFPC<cr> might return *5QFPC10<cr>
98.4	549
213.1	550	This command will query the Filter Position Count value.
98.4	551
213.1	552	Configure Filter Position Count (CFPC)
	553
	554	Ex: #5CFPC10<cr>
	555
172.1	556	This command configures the Filter Position Count value and saves it in the EEPROM. The setting will be saved upon servo reset / power cycle.
213.1	557	)))
1.1	558
213.1	559	\|(% colspan="2" %)(((
	560	====== Origin Offset (O) ======
	561	)))
	562	\|(% style="width:30px" %) \|(((
	563	Ex: #5O2400<cr>
1.1	564
213.1	565	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).
1.1	566
213.1	567	[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-v2/lynxmotion-smart-servo/lss-communication-protocol/WebHome/LSS-servo-default.jpg\|\|alt="LSS-servo-default.jpg"]]
1.1	568
213.1	569	In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
1.1	570
213.1	571	[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-v2/lynxmotion-smart-servo/lss-communication-protocol/WebHome/LSS-servo-origin.jpg\|\|alt="LSS-servo-origin.jpg"]]
1.1	572
213.1	573	Origin Offset Query (QO)
1.1	574
213.1	575	Ex: #5QO<cr> might return *5QO-13
1.1	576
213.1	577	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.
1.1	578
213.1	579	Configure Origin Offset (CO)
1.1	580
213.1	581	Ex: #5CO-24<cr>
1.1	582
172.1	583	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.
213.1	584	)))
1.1	585
213.1	586	\|(% colspan="2" %)Angular Range (AR)(((
	587	====== ======
	588	)))
	589	\|(% style="width:30px" %) \|(((
	590	Ex: #5AR1800<cr>
93.1	591
213.1	592	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:
1.1	593
213.1	594	[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-v2/lynxmotion-smart-servo/lss-communication-protocol/WebHome/LSS-servo-default.jpg\|\|alt="LSS-servo-default.jpg"]]
1.1	595
213.1	596	Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
1.1	597
213.1	598	[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-v2/lynxmotion-smart-servo/lss-communication-protocol/WebHome/LSS-servo-ar.jpg\|\|alt="LSS-servo-ar.jpg"]]
1.1	599
213.1	600	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:
1.1	601
213.1	602	[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-v2/lynxmotion-smart-servo/lss-communication-protocol/WebHome/LSS-servo-ar-o-1.jpg\|\|alt="LSS-servo-ar-o-1.jpg"]]
1.1	603
213.1	604	Query Angular Range (QAR)
1.1	605
213.1	606	Ex: #5QAR<cr> might return *5AR1800, indicating the total angular range is 180.0 degrees.
1.1	607
213.1	608	Configure Angular Range (CAR)
1.1	609
172.1	610	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.
213.1	611	)))
1.1	612
213.1	613	\|(% colspan="2" %)(((
	614	====== Angular Stiffness (AS) ======
	615	)))
	616	\|(% style="width:30px" %) \|(((
	617	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.
1.1	618
213.1	619	A higher value of "angular stiffness":
1.1	620
172.1	621	* The more torque will be applied to try to keep the desired position against external input / changes
213.1	622	* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
1.1	623
213.1	624	A lower value on the other hand:
64.1	625
172.1	626	* Causes a slower acceleration to the travel speed, and a slower deceleration
213.1	627	* Allows the target position to deviate more from its position before additional torque is applied to bring it back
1.1	628
213.1	629	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.
1.1	630
213.1	631	Ex: #5AS-2<cr>
1.1	632
213.1	633	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.
1.1	634
213.1	635	Ex: #5QAS<cr>
1.1	636
213.1	637	Queries the value being used.
1.1	638
213.1	639	Ex: #5CAS-2<cr>Writes the desired angular stiffness value to EEPROM.
	640	)))
98.37	641
213.1	642	\|(% colspan="2" %)(((
	643	====== Angular Holding Stiffness (AH) ======
	644	)))
	645	\|(% style="width:30px" %) \|(((
	646	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.
1.1	647
213.1	648	Ex: #5AH3<cr>
1.1	649
213.1	650	This sets the holding stiffness for servo #5 to 3 for that session.
110.1	651
213.1	652	Query Angular Holding Stiffness (QAH)
109.1	653
213.1	654	Ex: #5QAH<cr> might return *5QAH3<cr>
109.1	655
213.1	656	This returns the servo's angular holding stiffness value.
1.1	657
213.1	658	Configure Angular Holding Stiffness (CAH)
1.1	659
213.1	660	Ex: #5CAH2<cr>
1.1	661
213.1	662	This writes the angular holding stiffness of servo #5 to 2 to EEPROM.
	663	)))
1.1	664
213.1	665	\|(% colspan="2" %)(((
	666	====== Angular Acceleration (AA) ======
	667	)))
	668	\|(% style="width:30px" %) \|(((
	669	The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
1.1	670
213.1	671	Ex: #5AA30<cr>
1.1	672
213.1	673	This sets the angular acceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).
1.1	674
213.1	675	Query Angular Acceleration (QAA)
1.1	676
213.1	677	Ex: #5QAA<cr> might return *5QAA30<cr>
1.1	678
213.1	679	This returns the servo's angular acceleration in degrees per second squared (°/s^^2^^).
42.1	680
213.1	681	Configure Angular Acceleration (CAA)
42.1	682
213.1	683	Ex: #5CAA30<cr>
50.1	684
213.1	685	This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
	686	)))
42.1	687
213.1	688	\|(% colspan="2" %)(((
	689	====== Angular Deceleration (AD) ======
	690	)))
	691	\|(% style="width:30px" %) \|(((
	692	The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
1.1	693
213.1	694	Ex: #5AD30<cr>
102.1	695
213.1	696	This sets the angular deceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).
98.36	697
213.1	698	Query Angular Deceleration (QAD)
1.1	699
213.1	700	Ex: #5QAD<cr> might return *5QAD30<cr>
1.1	701
213.1	702	This returns the servo's angular deceleration in degrees per second squared (°/s^^2^^).
1.1	703
213.1	704	Configure Angular Deceleration (CAD)
1.1	705
213.1	706	Ex: #5CAD30<cr>
1.1	707
213.1	708	This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
	709	)))
1.1	710
213.1	711	\|(% colspan="2" %)(((
	712	====== Gyre Direction (G) ======
	713	)))
	714	\|(% style="width:30px" %) \|(((
	715	"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.
1.1	716
213.1	717	Ex: #5G-1<cr>
13.1	718
213.1	719	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.
1.1	720
213.1	721	Query Gyre Direction (QG)
1.1	722
213.1	723	Ex: #5QG<cr> might return *5QG-1<cr>
1.1	724
213.1	725	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.
1.1	726
213.1	727	Configure Gyre (CG)
12.1	728
213.1	729	Ex: #5CG-1<cr>
98.2	730
213.1	731	This changes the gyre direction as described above and also writes to EEPROM.
	732	)))
98.37	733
213.1	734	\|(% colspan="2" %)(((
	735	====== First Position ======
	736	)))
	737	\|(% style="width:30px" %) \|(((
	738	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.
113.1	739
213.1	740	Query First Position in Degrees (QFD)
98.2	741
213.1	742	Ex: #5QFD<cr> might return *5QFD900<cr>
98.2	743
213.1	744	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.
98.2	745
213.1	746	Configure First Position in Degrees (CFD)
98.2	747
213.1	748	Ex: #5CFD900<cr>
98.2	749
213.1	750	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>
	751	)))
98.2	752
213.1	753	\|(% colspan="2" %)(((
	754	====== Maximum Motor Duty (MMD) ======
	755	)))
	756	\|(% style="width:30px" %) \|(((
	757	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.
98.2	758
213.1	759	Ex: #5MMD512<cr>
98.2	760
213.1	761	This will set the duty-cycle to 512 for servo with ID 5 for that session.
98.2	762
213.1	763	Query Maximum Motor Duty (QMMD)
98.2	764
213.1	765	Ex: #5QMMDD<cr> might return *5QMMD512<cr>
98.2	766
213.1	767	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.
	768	)))
98.2	769
213.1	770	\|(% colspan="2" %)(((
	771	====== Maximum Speed in Degrees (SD) ======
	772	)))
	773	\|(% style="width:30px" %) \|(((
	774	Ex: #5SD1800<cr>
185.2	775
213.1	776	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.
185.2	777
213.1	778	Query Speed in Degrees (QSD)
190.2	779
213.1	780	Ex: #5QSD<cr> might return *5QSD1800<cr>
190.2	781
213.1	782	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:
	783	)))
185.2	784
213.1	785	\|(% style="width:30px" %) \|Command sent\|Returned value (1/10 °)
	786	\| \|ex: #5QSD<cr>\|Session value for maximum speed (set by latest SD/SR command)
	787	\| \|ex: #5QSD1<cr>\|Configured maximum speed in EEPROM (set by CSD/CSR)
	788	\| \|ex: #5QSD2<cr>\|Instantaneous speed (same as QWD)
	789	\| \|ex: #5QSD3<cr>\|Target travel speed
185.2	790
213.1	791	\|(% style="width:30px" %) \|(((
	792	Configure Speed in Degrees (CSD)
185.2	793
213.1	794	Ex: #5CSD1800<cr>
98.2	795
213.1	796	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.
	797	)))
98.2	798
213.1	799	\|(% colspan="2" %)(((
	800	====== Maximum Speed in RPM (SR) ======
	801	)))
	802	\|(% style="width:30px" %) \|(((
	803	Ex: #5SR45<cr>
98.2	804
213.1	805	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.
98.2	806
213.1	807	Query Speed in RPM (QSR)
98.2	808
213.1	809	Ex: #5QSR<cr> might return *5QSR45<cr>
98.2	810
213.1	811	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:
	812	)))
98.2	813
213.1	814	\|(% style="width:30px" %) \|Command sent\|Returned value (1/10 °)
	815	\| \|ex: #5QSR<cr>\|Session value for maximum speed (set by latest SD/SR command)
	816	\| \|ex: #5QSR1<cr>\|Configured maximum speed in EEPROM (set by CSD/CSR)
	817	\| \|ex: #5QSR2<cr>\|Instantaneous speed (same as QWD)
	818	\| \|ex: #5QSR3<cr>\|Target travel speed
98.2	819
213.1	820	\|(((
	821	Configure Speed in RPM (CSR)
98.2	822
213.1	823	Ex: #5CSR45<cr>
98.2	824
213.1	825	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.
	826	)))\|
98.2	827
213.1	828	== Modifiers ==
98.2	829
213.1	830	\|(% colspan="2" %)(((
	831	====== Speed (S, SD) modifier ======
	832	)))
	833	\|(% style="width:30px" %) \|(((
	834	Ex: #5P1500S750<cr>
98.2	835
213.1	836	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.
111.1	837
213.1	838	Ex: #5D0SD180<cr>
111.1	839
213.1	840	Modifier (SD) is only for a position (D) or relative position (MD) action and determines the speed of the move in tenths of 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 18 degrees per second.
111.1	841
213.1	842	Query Speed (QS)
111.1	843
213.1	844	Ex: #5QS<cr> might return *5QS300<cr>
111.1	845
213.1	846	This command queries the current speed in microseconds per second.
	847	)))
98.2	848
213.1	849	\|(% colspan="2" %)(((
	850	====== Timed move (T) modifier ======
	851	)))
	852	\|(% style="width:30px" %) \|(((
	853
98.2	854
213.1	855	Example: #5P1500T2500<cr>
111.1	856
213.1	857	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.
111.1	858
213.1	859	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.
	860	)))
111.1	861
213.1	862	\|(% colspan="2" %)(((
	863	====== Current Halt & Hold (CH) modifier ======
	864	)))
	865	\|(% style="width:30px" %) \|(((
	866	Example: #5D1423CH400<cr>
111.1	867
213.1	868	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.
111.1	869
213.1	870	This modifier can be added to the following actions: D; MD; WD; WR.
	871	)))
98.2	872
213.1	873	\|(% colspan="2" %)(((
	874	====== Current Limp (CL) modifier ======
	875	)))
	876	\|(% style="width:30px" %) \|(((
	877	Example: #5D1423CL400<cr>
98.2	878
213.1	879	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.
115.1	880
213.1	881	This modifier can be added to the following actions: D; MD; WD; WR.
	882	)))
	883
172.1	884	== Telemetry ==
98.2	885
213.1	886	\|(% colspan="2" %)(((
	887	====== Query Voltage (QV) ======
	888	)))
	889	\|(% style="width:30px" %) \|(((
	890	Ex: #5QV<cr> might return *5QV11200<cr>
98.2	891
213.1	892	The number returned is in milliVolts, so in the case above, servo with ID 5 has an input voltage of 11.2V.
	893	)))
98.37	894
213.1	895	\|(% colspan="2" %)(((
	896	====== Query Current (QC) ======
	897	)))
	898	\|(% style="width:30px" %) \|(((
	899
98.2	900
213.1	901	Ex: #5QC<cr> might return *5QC140<cr>
108.1	902
213.1	903	The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
	904	)))
140.1	905
213.1	906	\|(% colspan="2" %)(((
	907	====== Query Model String (QMS) ======
	908	)))
	909	\|(% style="width:30px" %) \|(((
	910
148.1	911
213.1	912	Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
148.1	913
213.1	914	This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
	915	)))
148.1	916
213.1	917	\|(% colspan="2" %)(((
	918	====== Query Firmware (QF) ======
	919	)))
	920	\|(% style="width:30px" %) \|(((
	921	Ex: #5QF<cr> might return *5QF368<cr>
148.1	922
213.1	923	The number in the reply represents the firmware version, in this example being 368.
148.1	924
213.1	925	The command #5QF3<cr> can also be sent and the servo will reply with a 3 numbers firmware version, for example, 368.29.14
	926	)))
148.1	927
172.1	928	== RGB LED ==
148.1	929
213.1	930	\|(% colspan="2" %)(((
	931	====== LED Color (LED) ======
	932	)))
	933	\|(% style="width:30px" %) \|(((
	934
172.1	935
213.1	936	Ex: #5LED3<cr>
172.1	937
213.1	938	This action sets the servo's RGB LED color for that session.
172.1	939
213.1	940	The LED can be used for aesthetics, or (based on user code) to provide visual status updates. Using timing can create patterns.
172.1	941
213.1	942	0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;
172.1	943
213.1	944	Query LED Color (QLED)
172.1	945
213.1	946	Ex: #5QLED<cr> might return *5QLED5<cr>
140.1	947
213.1	948	This simple query returns the indicated servo's LED color.
143.1	949
213.1	950	Configure LED Color (CLED)
	951
	952	Ex: #5CLED3<cr>
	953
	954	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.
	955	)))
	956
	957	\|(% colspan="2" %)(((
	958	====== Configure LED Blinking (CLB) ======
	959	)))
	960	\|(% style="width:30px" %) \|(((
	961
	962
	963	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:
	964	)))
	965
	966	\|(% style="width:30px" %) \|(% style="width:200px" %)Blink While:\|(% style="width:50px" %)#\|
	967	\| \|No blinking\|0\|
	968	\| \|Limp\|1\|
	969	\| \|Holding\|2\|
	970	\| \|Accelerating\|4\|
	971	\| \|Decelerating\|8\|
	972	\| \|Free\|16\|
	973	\| \|Travelling\|32\|
	974	\| \|Always blink\|63\|
	975
	976	\|(% style="width:30px" %) \|(((
	977	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:
	978
	979	Ex: #5CLB0 to turn off all blinking (LED always solid)
	980
	981	Ex: #5CLB1 only blink when limp (1)
	982
	983	Ex: #5CLB2 only blink when holding (2)
	984
	985	Ex: #5CLB12 only blink when accel or decel (accel 4 + decel 8 = 12)
	986
	987	Ex: #5CLB48 only blink when free or travel (free 16 + travel 32 = 48)
	988
	989	Ex: #5CLB63 blink in all status (1 + 2 + 4 + 8 + 16 + 32)
	990
	991	RESETTING the servo is needed.
	992	)))
	993
	994	\|(% colspan="2" style="width:30px" %)(((
	995	====== RGB LED Patterns ======
	996	)))
	997	\|(% style="width:30px" %) \|(((
	998	The LED patterns below do not include those which are part of the button menu, which can be found here: [[LSS Button Menu>>url:https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-v2/lynxmotion-smart-servo/lss-button-menu/]]
	999	)))
	1000	\|(% style="width:30px" %) \|[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-v2/lynxmotion-smart-servo/lss-communication-protocol/WebHome/LSS%20-%20LED%20Patterns.png\|\|alt="LSS - LED Patterns.png"]]

Wiki source code of LSS Communication Protocol

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