Wiki source code of LSS - Communication Protocol

Version 92.2 by Eric Nantel on 2019/01/29 15:30
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Eric Nantel 79.1 1 (% class="wikigeneratedid" id="HTableofContents" %)
2 **Table of Contents**
Coleman Benson 67.1 3
RB1 64.5 4 {{toc depth="3"/}}
5
Coleman Benson 68.1 6 = Protocol Concepts =
RB1 64.19 7
Coleman Benson 1.1 8 The Lynxmotion Smart Servo (LSS) protocol was created in order to be as simple and straightforward as possible from a user perspective, while at the same time trying to stay compact and robust yet highly versatile. Almost everything one might expect to be able to configure for a smart servo motor is available.
9
RB1 64.2 10 == Session ==
Coleman Benson 1.1 11
12 A "session" is defined as the time between when the servo is powered ON to when it is powered OFF or reset.
13
14 == Action Commands ==
15
16 Action commands are sent serially to the servo's Rx pin and must be set in the following format:
17
18 1. Start with a number sign # (U+0023)
19 1. Servo ID number as an integer
20 1. Action command (one to three letters, no spaces, capital or lower case)
21 1. Action value in the correct units with no decimal
22 1. End with a control / carriage return '<cr>'
23
24 (((
25 Ex: #5PD1443<cr>
26
27 Move servo with ID #5 to a position of 144.3 degrees.
28
29 Action commands cannot be combined with query commands, and only one action command can be sent at a time.
30
31 Action commands are session-specific, therefore once a servo is power cycled, it will not have any "memory" of previous actions or virtual positions (as described at the bottom of this page).
32
Coleman Benson 65.2 33 == Action Modifiers ==
Coleman Benson 1.1 34
35 Two commands can be used as action modifiers only: Timed Move and Speed. The format is:
36
37 1. Start with a number sign # (U+0023)
38 1. Servo ID number as an integer
39 1. Action command (one to three letters, no spaces, capital or lower case)
40 1. Action value in the correct units with no decimal
41 1. Modifier command (one letter)
42 1. Modifier value in the correct units with no decimal
43 1. End with a control / carriage return '<cr>'
44
45 Ex: #5P1456T1263<cr>
46
47 Results in the servo rotating from the current angular position to a pulse position of 1456 in 1263 milliseconds.
48
RB1 55.1 49 Action modifiers can only be used with certain commands.
Coleman Benson 1.1 50 )))
51
Coleman Benson 16.1 52 == Configuration Commands ==
53
RB1 77.1 54 Configuration commands affect the servo's current session* but unlike action commands, configuration commands are written to EEPROM and are retained even if the servo loses power (therefore NOT session specific). Not all action commands have a corresponding configuration and vice versa. Certain configurations are retained for when the servo is used in RC model. More information can be found on the [[LSS - RC PWM page>>doc:Lynxmotion Smart Servo (LSS).LSS - RC PWM.WebHome]].
Coleman Benson 16.1 55
56 1. Start with a number sign # (U+0023)
57 1. Servo ID number as an integer
58 1. Configuration command (two to three letters, no spaces, capital or lower case)
59 1. Configuration value in the correct units with no decimal
60 1. End with a control / carriage return '<cr>'
61
62 Ex: #5CO-50<cr>
63
64 Assigns an absolute origin offset of -5.0 degrees (with respect to factory origin) to servo #5 and changes the offset for that session to -5.0 degrees.
65
66 Configuration commands are not cumulative, in that if two configurations are sent at any time, only the last configuration is used and stored.
67
68 *Important Note: the one exception is the baud rate - the servo's current session retains the given baud rate. The new baud rate will only be in place when the servo is power cycled.
69
Coleman Benson 1.1 70 == Query Commands ==
71
72 Query commands are sent serially to the servo's Rx pin and must be set in the following format:
73
74 1. Start with a number sign # (U+0023)
75 1. Servo ID number as an integer
76 1. Query command (one to three letters, no spaces, capital or lower case)
77 1. End with a control / carriage return '<cr>'
78
79 (((
80 Ex: #5QD<cr>Query position in degrees for servo #5
81 )))
82
83 (((
84 The query will return a value via the Tx pin with the following format:
85
86 1. Start with an asterisk (U+002A)
87 1. Servo ID number as an integer
88 1. Query command (one to three letters, no spaces, capital letters)
89 1. The reported value in the units described, no decimals.
90 1. End with a control / carriage return '<cr>'
91
92 (((
93 Ex: *5QD1443<cr>
94 )))
95
96 Indicates that servo #5 is currently at 144.3 degrees.
97
Coleman Benson 16.1 98 **Session vs Configuration Query**
Coleman Benson 1.1 99
Coleman Benson 16.1 100 By default, the query command returns the sessions' value; should no action commands have been sent to change, it will return the value saved in EEPROM from the last configuration command.
Coleman Benson 1.1 101
Coleman Benson 16.1 102 In order to query the value in EEPROM, add a '1' to the query command.
Coleman Benson 1.1 103
Coleman Benson 16.1 104 Ex: #5CSR20<cr> sets the maximum speed for servo #5 to 20rpm upon RESET (explained below).
Coleman Benson 1.1 105
Coleman Benson 16.1 106 After RESET: #5SR4<cr> sets the session's speed to 4rpm.
Coleman Benson 1.1 107
Coleman Benson 16.1 108 #5QSR<cr> would return *5QSR4<cr> which represents the value for that session.
Coleman Benson 1.1 109
Coleman Benson 16.1 110 #5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
RB1 56.1 111
Coleman Benson 65.2 112 == Virtual Angular Position ==
RB1 56.1 113
114 {In progress}
115
116 A "virtual position" is one which allows for 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 360.0 degrees.
117
118 [[image:LSS-servo-positions.jpg]]
119
120 Example: Gyre direction / rotation is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees.
121
122 #1D-300<cr> The servo is sent a command to move to -30.0 degrees (green arrow)
123
124 #1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
125
126 #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,  stopping at an absolute position of 60.0 degrees (420.0-360.0), with a virtual position of -420.0 degrees.
127
128 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.
129
130 #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.
131
132 #1D3300<cr> would cause the servo to rotate from 480.0 degrees to 330.0 degrees (yellow arrow).
133
134 If / once the servo loses power or is power cycled, it also loses the virtual position associated with that session. For example, if the virtual position was 480.0 degrees before power is cycled, upon power up the servo's position will be read as +120.0 degrees from zero (assuming center position has not been modified).
Coleman Benson 16.1 135 )))
Coleman Benson 1.1 136
137 = Command List =
138
Eric Nantel 92.1 139 |= #|=Description|= Action|= Query|= Config|= RC|= Serial|= Units|= Notes|=(% style="width: 50px;" %)Default
140 | 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| L| | | | ✓|none| |(% style="text-align:center" %)
141 | 2|[[**H**alt & Hold>>||anchor="H2.Halt26Hold28H29"]]| H| | | | ✓|none| |(% style="text-align:center" %)
142 | 3|[[**T**imed move>>||anchor="H3.Timedmove28T29"]]| T| | | | ✓|milliseconds| Modifier only (P, D, MD)|(% style="text-align:center" %)
143 | 4|[[**S**peed>>||anchor="H4.Speed28S29"]]| S| | | | ✓|microseconds / second| Modifier only (P)|(% style="text-align:center" %)
144 | 5|[[**M**ove in **D**egrees (relative)>>||anchor="H5.28Relative29MoveinDegrees28MD29"]]| MD| | | | ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)| |(% style="text-align:center" %)
145 | 6|[[**O**rigin Offset>>||anchor="H6.OriginOffsetAction28O29"]]| O| QO| CO| ✓| ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)| |(% style="text-align:center" %)(((
146 00
147
148 0.0 degrees
149 )))
150 | 7|[[**A**ngular **R**ange>>||anchor="H7.AngularRange28AR29"]]| AR| QAR| CAR| ✓| ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)| |(% style="text-align:center" %)(((
151 1800
152
153 180.0 degrees
154 )))
Coleman Benson 75.1 155 | 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| P| QP| | | ✓|microseconds|(((
Coleman Benson 28.1 156 See details below
Eric Nantel 92.1 157 )))|(% style="text-align:center" %)
158 | 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD| | | ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)| |(% style="text-align:center" %)
159 | 10|[[**W**heel mode in **D**egrees>>||anchor="H10.WheelModeinDegrees28WD29"]]| WD| QWD| | | ✓|tenths of degrees per second (ex 248 = 24.8 degrees per second)|A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center" %)
160 | 11|[[**W**heel mode in **R**PM>>||anchor="H11.WheelModeinRPM28WR29"]]| WR| QWR| | | ✓| rpm|A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center" %)
161 | 12|[[Max **S**peed in **D**egrees>>||anchor="H12.SpeedinDegrees28SD29"]]| SD| QSD| CSD| ✓| ✓|tenths of degrees per second (ex 248 = 24.8 degrees per second)|QSD: Add modifier "2" for instantaneous speed|(% style="text-align:center" %)
162 | 13|[[Max **S**peed in **R**PM>>||anchor="H13.SpeedinRPM28SR29"]]| SR| QSR| CSR| ✓| ✓|rpm|QSR: Add modifier "2" for instantaneous speed|(% style="text-align:center" %)
163 | 14|[[**A**ngular **S**tiffness>>||anchor="H14.AngularStiffness28AS29"]]| AS| QAS| CAS| ✓| ✓|none|-4 to +4, but suggested values are between 0 to +4|(% style="text-align:center" %)0
164 | 15|[[**A**ngular **H**olding Stiffness>>||anchor="H15.AngularHoldStiffness28AH29"]]|AH|QAH|CAH| | ✓|none|-10 to +10, with default as 0. |(% style="text-align:center" %)
165 |15b|[[**A**ngular **A**cceleration>>||anchor="H15b:AngularAcceleration28AA29"]]|AA|QAA|CAA| | ✓|degrees per second squared|Increments of 10 degrees per second squared|(% style="text-align:center" %)
166 |15c|[[**A**ngular **D**eceleration>>||anchor="H15c:AngularDeceleration28AD29"]]|AD|QAD|CAD| | ✓|degrees per second squared|Increments of 10 degrees per second squared|(% style="text-align:center" %)
167 |15d|[[**E**nable **M**otion control>>||anchor="H15d:MotionControl28MC29"]]|EM|QEM| | | ✓|none|EM0 to disable motion control, EM1 to enable. Session specific / does not survive power cycles|(% style="text-align:center" %)
168 | 16|[[**LED** Color>>||anchor="H16.RGBLED28LED29"]]| LED| QLED| CLED| ✓| ✓|none (integer from 0 to 8)|0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;|(% style="text-align:center" %)7
169 | 16b|[[**C**onfigure **L**ED **B**linking>>||anchor="H16b.ConfigureLEDBlinking28CLB29"]]| | | CLB| ✓| |none (integer from 0 to 63)|0=No blinking, ; 63=Always blink; Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;|(% style="text-align:center" %)
170 | 17|[[**ID** #>>||anchor="H17.IdentificationNumber"]]| | QID| CID| | ✓|none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to|(% style="text-align:center" %)0
171 | 18|[[**B**aud rate>>||anchor="H18.BaudRate"]]| B| QB| CB| | ✓|none (integer)| |(% style="text-align:center" %)9600
172 | 19|[[**G**yre direction (**G**)>>||anchor="H19.GyreRotationDirection"]]| G| QG| CG| ✓| ✓|none | Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise)|(% style="text-align:center" %)1 Clowckwise
173 | 20|[[**F**irst Position (**P**ulse)>>||anchor="H20.First2InitialPosition28pulse29"]]| | QFP|CFP | ✓| ✓|none | |(% style="text-align:center" %)(((
174 Limp
175 )))
176 | 21|[[**F**irst Position (**D**egrees)>>||anchor="H21.First2InitialPosition28Degrees29"]]| | QFD|CFD| ✓| ✓|none | |(% style="text-align:center" %)Limp
177 | 22|[[**T**arget (**D**egree) **P**osition>>||anchor="H22.QueryTargetPositioninDegrees28QDT29"]]| | QDT| | | ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)| |(% style="text-align:center" %)
178 | 23|[[**M**odel **S**tring>>||anchor="H23.QueryModelString28QMS29"]]| | QMS| | | |none (string)| Recommended to determine the model|(% style="text-align:center" %) |
179 | 23b|[[**M**odel>>||anchor="H23b.QueryModel28QM29"]]| | QM| | | |none (integer)| Returns a raw value representing the three model inputs (36 bit)|(% style="text-align:center" %) |
180 | 24|[[Serial **N**umber>>||anchor="H24.QuerySerialNumber28QN29"]]| | QN| | | |none (integer)| |(% style="text-align:center" %)
181 | 25|[[**F**irmware version>>||anchor="H25.QueryFirmware28QF29"]]| | QF| | | |none (integer)| |(% style="text-align:center" %)
182 | 26|[[**Q**uery (general status)>>||anchor="H26.QueryStatus28Q29"]]| | Q| | | ✓|none (integer from 1 to 8)| See command description for details|(% style="text-align:center" %)
183 | 27|[[**V**oltage>>||anchor="H27.QueryVoltage28QV29"]]| | QV| | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)| |(% style="text-align:center" %)
184 | 28|[[**T**emperature>>||anchor="H28.QueryTemperature28QT29"]]| | QT| | | ✓|tenths of degrees Celsius|Max temp before error: 85°C (servo goes limp)|(% style="text-align:center" %)
185 | 29|[[**C**urrent>>||anchor="H29.QueryCurrent28QC29"]]| | QC| | | ✓|milliamps (ex 200 = 0.2A)| |(% style="text-align:center" %)
RB1 64.30 186 | 30|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]]| | |CRC| |✓|none|(((
RB1 48.1 187 CRC: Add modifier "1" for RC-position mode.
188 CRC: Add modifier "2" for RC-wheel mode.
189 Any other value for the modifier results in staying in smart mode.
190 Puts the servo into RC mode. To revert to smart mode, use the button menu.
Eric Nantel 92.1 191 )))|(% style="text-align:center" %)Serial
192 |31|[[**RESET**>>||anchor="H31.RESET"]]| | | | | ✓|none|Soft reset. See command for details.|(% style="text-align:center" %)
193 |32|[[**DEFAULT**>>||anchor="H32.DEFAULTA026CONFIRM"]]| | | | |✓|none|Revert to firmware default values. See command for details|(% style="text-align:center" %)
194 |33|[[**UPDATE**>>||anchor="H33.UPDATEA026CONFIRM"]]| | | | |✓|none|Update firmware. See command for details.|(% style="text-align:center" %)
Coleman Benson 1.1 195
RB1 64.3 196 == Details ==
Coleman Benson 1.1 197
RB1 64.15 198 ====== __1. Limp (**L**)__ ======
Coleman Benson 1.1 199
200 Example: #5L<cr>
201
202 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>.
203
RB1 64.16 204 ====== __2. Halt & Hold (**H**)__ ======
Coleman Benson 1.1 205
206 Example: #5H<cr>
207
208 This action overrides whatever the servo might be doing at the time the command is received (accelerating, moving continuously etc.) and causes it to stop immediately and hold that position.
209
RB1 64.16 210 ====== __3. Timed move (**T**)__ ======
Coleman Benson 1.1 211
212 Example: #5P1500T2500<cr>
213
214 Timed move can be used only as a modifier for a position (P) action. 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. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.
215
Coleman Benson 72.1 216 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.
217
RB1 64.28 218 ====== __4. Speed (**S**)__ ======
Coleman Benson 1.1 219
220 Example: #5P1500S750<cr>
221
222 This command is a modifier only for a position (P) action and determines the speed of the move in microseconds per second. A speed of 750 microseconds would cause the servo to rotate from its current position to the desired position at a speed of 750 microseconds per second. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.
223
RB1 64.16 224 ====== __5. (Relative) Move in Degrees (**MD**)__ ======
Coleman Benson 1.1 225
226 Example: #5MD123<cr>
227
228 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.
229
RB1 64.16 230 ====== __6. Origin Offset Action (**O**)__ ======
Coleman Benson 1.1 231
232 Example: #5O2400<cr>
233
234 This command allows you to temporarily change the origin of the servo in relation to the factory zero position. The setting will be lost upon servo reset / power cycle. Origin offset commands are not cumulative and always relate to factory zero. Note that for a given session, the O command overrides the CO command. In the first image, the origin at factory offset '0' (centered).
235
236 [[image:LSS-servo-default.jpg]]
237
238 In the second image, the origina, as well as the angular range (explained below) have been shifted by 240.0 degrees:
239
240 [[image:LSS-servo-origin.jpg]]
241
242 Origin Offset Query (**QO**)
243
244 Example: #5QO<cr> Returns: *5QO-13
245
246 This allows you to query the angle (in tenths of degrees) of the origin in relation to the factory zero position.
247
248 Configure Origin Offset (**CO**)
249
250 Example: #5CO-24<cr>
251
252 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.
253
RB1 64.16 254 ====== __7. Angular Range (**AR**)__ ======
Coleman Benson 1.1 255
256 Example: #5AR1800<cr>
257
258 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). In the first image,
259
260 [[image:LSS-servo-default.jpg]]
261
262 Here, the angular range has been restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
263
264 [[image:LSS-servo-ar.jpg]]
265
266 The angular range action command (ex. #5AR1800<cr>) and origin offset action command (ex. #5O-1200<cr>) an be used to move both the center and limit the angular range:
267
268 [[image:LSS-servo-ar-o-1.jpg]]
269
270 Query Angular Range (**QAR**)
271
272 Example: #5QAR<cr> might return *5AR2756
273
274 Configure Angular Range (**CAR**)
275
276 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.
277
RB1 64.16 278 ====== __8. Position in Pulse (**P**)__ ======
Coleman Benson 1.1 279
280 Example: #5P2334<cr>
281
Coleman Benson 11.1 282 The position in PWM pulses was retained in order to be backward compatible with the SSC-32 / 32U protocol. This relates the desired angle with an RC standard PWM pulse and is further explained in the SSC-32 and SSC-32U manuals found on Lynxmotion.com. Without any modifications to configuration considered, and a ±90.0 degrees standard range where 1500 microseconds is centered, a pulse of 2334 would set the servo to 165.1 degrees. Valid values for P are [500, 2500]. Values outside this range are corrected to end points.
Coleman Benson 1.1 283
284 Query Position in Pulse (**QP**)
285
Coleman Benson 37.1 286 Example: #5QP<cr> might return *5QP2334
Coleman Benson 1.1 287
Coleman Benson 11.1 288 This command queries the current angular position in PWM "units". The user must take into consideration that the response includes any angular range and origin configurations in order to determine the actual angle. 
Coleman Benson 37.1 289 Valid values for QP are {-500, [500, 2500], -2500}. Values outside the [500, 2500] range are given a negative corresponding end point value to indicate they are out of bounds (note that if the servo is physically located at one of the endpoints, it may return a negative number if it is a fraction of a degree beyond the position).
Coleman Benson 1.1 290
RB1 64.16 291 ====== __9. Position in Degrees (**D**)__ ======
Coleman Benson 1.1 292
293 Example: #5PD1456<cr>
294
295 This moves the servo to an angle of 145.6 degrees, where the center (0) position is centered. Negative values (ex. -176 representing -17.6 degrees) are used. A full circle would be from -1800 to 1800 degrees. A value of 2700 would be the same angle as -900, except the servo would move in a different direction.
296
297 Larger values are permitted and allow for multi-turn functionality using the concept of virtual position.
298
299 Query Position in Degrees (**QD**)
300
Coleman Benson 37.1 301 Example: #5QD<cr> might return *5QD132<cr>
Coleman Benson 1.1 302
Coleman Benson 37.1 303 This means the servo is located at 13.2 degrees.
304
RB1 64.16 305 ====== __10. Wheel Mode in Degrees (**WD**)__ ======
Coleman Benson 1.1 306
307 Ex: #5WD900<cr>
308
309 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).
310
311 Query Wheel Mode in Degrees (**QWD**)
312
313 Ex: #5QWD<cr> might return *5QWD900<cr>
314
315 The servo replies with the angular speed in tenths of degrees per second. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
316
RB1 64.16 317 ====== __11. Wheel Mode in RPM (**WR**)__ ======
Coleman Benson 1.1 318
319 Ex: #5WR40<cr>
320
321 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).
322
323 Query Wheel Mode in RPM (**QWR**)
324
325 Ex: #5QWR<cr> might return *5QWR40<cr>
326
327 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).
328
RB1 64.16 329 ====== __12. Speed in Degrees (**SD**)__ ======
Coleman Benson 1.1 330
331 Ex: #5SD1800<cr>
332
333 This command sets the servo's maximum speed for action 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. Therefore maximum speed for actions can be set "on the fly". The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SD overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD 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) is what the servo uses for that session.
334
335 Query Speed in Degrees (**QSD**)
336
337 Ex: #5QSD<cr> might return *5QSD1800<cr>
338
RB1 25.1 339 By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever a SD/SR command is processed.
RB1 23.1 340 If #5QSD1<cr> is sent, the configured maximum speed (CSD value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
Coleman Benson 1.1 341
RB1 24.1 342 |**Command sent**|**Returned value (1/10 °)**
Coleman Benson 32.1 343 |ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
344 |ex: #5QSD1<cr>|Configured maximum speed  (set by CSD/CSR)
345 |ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
346 |ex: #5QSD3<cr>|Target travel speed
RB1 23.1 347
Coleman Benson 1.1 348 Configure Speed in Degrees (**CSD**)
349
350 Ex: #5CSD1800<cr>
351
352 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.
353
RB1 64.16 354 ====== __13. Speed in RPM (**SR**)__ ======
Coleman Benson 1.1 355
356 Ex: #5SD45<cr>
357
358 This command sets the servo's maximum speed for action commands in rpm for that session. In the example above, the servo's maximum speed for that session would be set to 45rpm. Therefore maximum speed for actions can be set "on the fly". The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SD overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) is what the servo uses for that session.
359
360 Query Speed in Degrees (**QSR**)
361
362 Ex: #5QSR<cr> might return *5QSR45<cr>
363
RB1 25.1 364 By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever a SD/SR command is processed.
365 If #5QSR1<cr> is sent, the configured maximum speed (CSR value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
Coleman Benson 1.1 366
RB1 25.1 367 |**Command sent**|**Returned value (1/10 °)**
Coleman Benson 32.1 368 |ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
369 |ex: #5QSR1<cr>|Configured maximum speed  (set by CSD/CSR)
370 |ex: #5QSR2<cr>|Instantaneous speed (same as QWR)
371 |ex: #5QSR3<cr>|Target travel speed
Coleman Benson 1.1 372
RB1 25.1 373 Configure Speed in RPM (**CSR**)
374
Coleman Benson 1.1 375 Ex: #5CSR45<cr>
376
RB1 25.1 377 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) is what the servo uses for that session.
Coleman Benson 1.1 378
RB1 64.16 379 ====== __14. Angular Stiffness (**AS**)__ ======
Coleman Benson 15.1 380
Coleman Benson 31.1 381 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.
Coleman Benson 15.1 382
Coleman Benson 31.1 383 A positive value of "angular stiffness":
Coleman Benson 15.1 384
385 * The more torque will be applied to try to keep the desired position against external input / changes
386 * The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
387
388 A negative value on the other hand:
389
390 * Causes a slower acceleration to the travel speed, and a slower deceleration
391 * Allows the target position to deviate more from its position before additional torque is applied to bring it back
392
393 The default value is zero and the effect becomes extreme by -4, +4. There are no units, only integers between -4 to 4. Greater values produce increasingly erratic behavior.
394
Coleman Benson 31.1 395 Ex: #5AS-2<cr>
Coleman Benson 15.1 396
Coleman Benson 31.1 397 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.
Coleman Benson 15.1 398
Coleman Benson 31.1 399 Ex: #5QAS<cr>
Coleman Benson 15.1 400
401 Queries the value being used.
402
Coleman Benson 31.1 403 Ex: #5CAS<cr>
Coleman Benson 15.1 404
Coleman Benson 31.1 405 Writes the desired angular stiffness value to memory.
Coleman Benson 15.1 406
RB1 64.16 407 ====== __15. Angular Hold Stiffness (**AH**)__ ======
Coleman Benson 15.1 408
Coleman Benson 62.1 409 The angular holding stiffness determines the servo's ability to hold a desired position under load. Values can be from -10 to 10, with the default being 0. Note that negative values mean the final position can be easily deflected.
Coleman Benson 15.1 410
Coleman Benson 62.1 411 Ex: #5AH3<cr>
412
413 This sets the holding stiffness for servo #5 to 3 for that session.
414
415 Query Angular Hold Stiffness (**QAH**)
416
417 Ex: #5QAH<cr> might return *5QAH3<cr>
418
419 This returns the servo's angular holding stiffness value.
420
Coleman Benson 63.1 421 Configure Angular Hold Stiffness (**CAH**)
Coleman Benson 62.1 422
423 Ex: #5CAH2<cr>
424
425 This writes the angular holding stiffness of servo #5 to 2 to EEPROM
426
RB1 64.16 427 ====== __15b: Angular Acceleration (**AA**)__ ======
Coleman Benson 63.1 428
429 {More details to come}
430
RB1 64.16 431 ====== __15c: Angular Deceleration (**AD**)__ ======
Coleman Benson 63.1 432
433 {More details to come}
434
RB1 71.1 435 ====== __15d: Motion Control (**EM**)__ ======
Coleman Benson 63.1 436
437 {More details to come}
438
RB1 64.16 439 ====== __16. RGB LED (**LED**)__ ======
Coleman Benson 1.1 440
441 Ex: #5LED3<cr>
442
443 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.
444
Coleman Benson 9.1 445 0=OFF 1=RED 2=GREEN 3= BLUE 4=YELLOW 5=CYAN 6= 7=MAGENTA, 8=WHITE 
Coleman Benson 1.1 446
447 Query LED Color (**QLED**)
448
449 Ex: #5QLED<cr> might return *5QLED5<cr>
450
451 This simple query returns the indicated servo's LED color.
452
453 Configure LED Color (**CLED**)
454
Coleman Benson 35.1 455 Configuring the LED color via the CLED command sets the startup color of the servo after a reset or power cycle. Note that it also changes the session's LED color immediately as well.
Coleman Benson 1.1 456
RB1 83.1 457 ====== __16b. Configure LED Blinking (**CLB**)__ ======
458
RB1 90.1 459 This command allows you to control when the RGB LED will blink the user set color (see [[16. RGB LED>>||anchor="H16.RGBLED28LED29"]] for details).
RB1 87.1 460 You can turn on or off blinking for various LSS status. Here is the list and their associated value: 0=No blinking, ; 63=Always blink; Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;
RB1 83.1 461
RB1 85.1 462 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:
463
464 Ex: #5CLB0<cr> to turn off all blinking (LED always solid)
465 Ex: #5CLB1<cr> only blink when limp
466 Ex: #5CLB2<cr> only blink when holding
467 Ex: #5CLB12<cr> only blink when accel or decel
468 Ex: #5CLB48<cr> only blink when free or travel
469 Ex: #5CLB63<cr> blink in all status
470
RB1 64.16 471 ====== __17. Identification Number__ ======
Coleman Benson 1.1 472
RB1 17.1 473 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.
Coleman Benson 1.1 474
475 Query Identification (**QID**)
476
Coleman Benson 38.1 477 EX: #254QID<cr> might return *QID5<cr>
Coleman Benson 1.1 478
Coleman Benson 38.1 479 When using the query ID command, it is best to only have one servo connected and thus receive only one reply using the broadcast command (ID 254). Alternatively, pushing the button upon startup and temporarily setting the servo ID to 255 will still result in the servo responding with its "real" ID.
Coleman Benson 1.1 480
481 Configure ID (**CID**)
482
Coleman Benson 38.1 483 Ex: #4CID5<cr>
Coleman Benson 1.1 484
485 Setting a servo's ID in EEPROM is done via the CID command. All servos connected to the same serial bus will be assigned that ID. In most situations each servo must be set a unique ID, which means each servo must be connected individually to the serial bus and receive a unique CID number. It is best to do this before the servos are added to an assembly. Numbered stickers are provided to distinguish each servo after their ID is set, though you are free to use whatever alternative method you like.
486
RB1 64.16 487 ====== __18. Baud Rate__ ======
Coleman Benson 1.1 488
RB1 20.1 489 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 9600. Since smart servos are intended to be daisy chained, in order to respond to the same serial bus, all servos in that project should ideally be set to the same baud rate. Setting different baud rates will have the servos respond differently and may create issues. Available baud rates are: 9.6 kbps, 19.2 kbps, 38.4 kbps, 57.6 kbps, 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 9600. The baud rates are currently restricted to those above.
RB1 22.1 490 \*: Current tests reveal baud rates above 500 kbps are unstable and can cause timeouts. Please keep this in mind if using those / testing them out.
Coleman Benson 1.1 491
492 Query Baud Rate (**QB**)
493
494 Ex: #5QB<cr> might return *5QB9600<cr>
495
496 Querying the baud rate is used simply to confirm the CB configuration command before the servo is power cycled.
497
498 Configure Baud Rate (**CB**)
499
500 Ex: #5CB9600<cr>
501
502 Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
503
RB1 64.16 504 ====== __19. Gyre Rotation Direction__ ======
Coleman Benson 1.1 505
506 "Gyre" is defined as a circular course or motion. The effect of changing the gyre direction is as if you were to use a mirror image of a circle. CW = 1; CCW = -1. The factory default is clockwise (CW).
507
508 {images showing before and after with AR and Origin offset}
509
510 Query Gyre Direction (**QG**)
511
512 Ex: #5QG<cr> might return *5QG-1<cr>
513
514 The value returned above means the servo is in a counter-clockwise gyration.
515
516 Configure Gyre (**CG**)
517
518 Ex: #5CG-1<cr>
519
520 This changes the gyre direction as described above and also writes to EEPROM.
521
RB1 64.16 522 ====== __20. First / Initial Position (pulse)__ ======
Coleman Benson 1.1 523
RB1 49.1 524 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". 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. FP and FD are different in that FP is used for RC mode only, whereas FD is used for smart mode only.
Coleman Benson 1.1 525
526 Query First Position in Pulses (**QFP**)
527
528 Ex: #5QFP<cr> might return *5QFP1550<cr>
529
Coleman Benson 36.1 530 The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds. If no first position has been set, servo will respond with DIS ("disabled").
Coleman Benson 1.1 531
Coleman Benson 36.1 532 Configure First Position in Pulses (**CFP**)
Coleman Benson 1.1 533
534 Ex: #5CP1550<cr>
535
Coleman Benson 36.1 536 This configuration command means the servo, when set to RC mode, will immediately move to an angle equivalent to having received an RC pulse of 1550 microseconds upon power up. Sending a CFP command without a number results in the servo remaining limp upon power up (i.e. disabled).
Coleman Benson 1.1 537
RB1 64.16 538 ====== __21. First / Initial Position (Degrees)__ ======
Coleman Benson 1.1 539
RB1 49.1 540 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". 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. FP and FD are different in that FP is used for RC mode only, whereas FD is used for smart mode only.
Coleman Benson 1.1 541
542 Query First Position in Degrees (**QFD**)
543
544 Ex: #5QFD<cr> might return *5QFD64<cr>
545
546 The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds.
547
548 Configure First Position in Degrees (**CFD**)
549
550 Ex: #5CD64<cr>
551
RB1 49.1 552 This configuration command means the servo, when set to smart mode, will immediately move to 6.4 degrees upon power up. Sending a CFD command without a number results in the servo remaining limp upon power up.
Coleman Benson 1.1 553
RB1 64.16 554 ====== __22. Query Target Position in Degrees (**QDT**)__ ======
Coleman Benson 1.1 555
556 Ex: #5QDT<cr> might return *5QDT6783<cr>
557
558 The query target position command returns the target angle during and after an action which results in a rotation of the servo horn. In the example above, the servo is rotating to a virtual position of 678.3 degrees. Should the servo not have a target position or be in wheel mode, it will respond without a number (Ex: *5QDT<cr>).
559
RB1 64.16 560 ====== __23. Query Model String (**QMS**)__ ======
Coleman Benson 1.1 561
RB1 64.1 562 Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
Coleman Benson 1.1 563
RB1 64.1 564 This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
Coleman Benson 1.1 565
RB1 64.16 566 ====== __23b. Query Model (**QM**)__ ======
RB1 64.1 567
568 Ex: #5QM<cr> might return *5QM68702699520cr>
569
570 This reply means the servo model is 0xFFF000000 or 100, meaning a high speed servo, first revision.
571
RB1 64.16 572 ====== __24. Query Serial Number (**QN**)__ ======
Coleman Benson 1.1 573
574 Ex: #5QN<cr> might return *5QN~_~_<cr>
575
576 The number in the response is the servo's serial number which is set and cannot be changed.
577
RB1 64.16 578 ====== __25. Query Firmware (**QF**)__ ======
Coleman Benson 1.1 579
580 Ex: #5QF<cr> might return *5QF11<cr>
581
582 The integer in the reply represents the firmware version with one decimal, in this example being 1.1
583
RB1 64.16 584 ====== __26. Query Status (**Q**)__ ======
Coleman Benson 1.1 585
RB1 34.1 586 Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
Coleman Benson 1.1 587
Coleman Benson 35.1 588 |*Value returned|**Status**|**Detailed description**
RB1 34.1 589 |ex: *5Q0<cr>|Unknown|LSS is unsure
590 |ex: *5Q1<cr>|Limp|Motor driving circuit is not powered and horn can be moved freely
591 |ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
592 |ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
593 |ex: *5Q4<cr>|Traveling|Moving at a stable speed
Coleman Benson 69.1 594 |ex: *5Q5<cr>|Decelerating|Decreasing from travel speed towards final position.
RB1 34.1 595 |ex: *5Q6<cr>|Holding|Keeping current position
596 |ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque
Coleman Benson 69.1 597 |ex: *5Q8<cr>|Outside limits|{More details coming soon}
RB1 34.1 598 |ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting
Coleman Benson 69.1 599 |ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
Coleman Benson 1.1 600
RB1 64.16 601 ====== __27. Query Voltage (**QV**)__ ======
Coleman Benson 1.1 602
Coleman Benson 59.1 603 Ex: #5QV<cr> might return *5QV11200<cr>
Coleman Benson 1.1 604
605 The number returned has one decimal, so in the case above, servo with ID 5 has an input voltage of 11.2V (perhaps a three cell LiPo battery).
606
RB1 64.16 607 ====== __28. Query Temperature (**QT**)__ ======
Coleman Benson 1.1 608
609 Ex: #5QT<cr> might return *5QT564<cr>
610
611 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.
612
RB1 64.16 613 ====== __29. Query Current (**QC**)__ ======
Coleman Benson 1.1 614
615 Ex: #5QC<cr> might return *5QC140<cr>
616
617 The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
618
RB1 64.16 619 ====== __30. RC Mode (**CRC**)__ ======
Coleman Benson 42.1 620
RB1 51.1 621 This command puts the servo into RC mode (position or continuous), where it will only respond to RC pulses. Note that because this is the case, the servo will no longer accept serial commands. The servo can be placed back into smart mode by using the button menu.
Coleman Benson 42.1 622
RB1 50.1 623 |**Command sent**|**Note**
624 |ex: #5CRC<cr>|Stay in smart mode.
625 |ex: #5CRC1<cr>|Change to RC position mode.
626 |ex: #5CRC2<cr>|Change to RC continuous (wheel) mode.
RB1 52.2 627 |ex: #5CRC*<cr>|Where * is any number or value. Stay in smart mode.
RB1 50.1 628
Coleman Benson 42.1 629 EX: #5CRC<cr>
630
RB1 64.16 631 ====== __31. RESET__ ======
Coleman Benson 1.1 632
633 Ex: #5RESET<cr> or #5RS<cr>
634
635 This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
636
RB1 64.16 637 ====== __32. DEFAULT & CONFIRM__ ======
Coleman Benson 1.1 638
639 Ex: #5DEFAULT<cr>
640
Coleman Benson 12.1 641 This command sets in motion the reset all values to the default values included with the version of the firmware installed on that servo. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the DEFAULT function.
Coleman Benson 1.1 642
Coleman Benson 12.1 643 EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
Coleman Benson 1.1 644
Coleman Benson 12.1 645 Since it it not common to have to restore all configurations, a confirmation command is needed after a firmware command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will leave the firmware action.
Coleman Benson 1.1 646
Coleman Benson 13.1 647 Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
648
RB1 64.16 649 ====== __33. UPDATE & CONFIRM__ ======
Coleman Benson 1.1 650
Coleman Benson 12.1 651 Ex: #5UPDATE<cr>
Coleman Benson 1.1 652
Coleman Benson 12.1 653 This command sets in motion the equivalent of a long button press when the servo is not powered in order to enter firmware update mode. This is useful should the button be broken or inaccessible. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the UPDATE function.
Coleman Benson 1.1 654
Coleman Benson 12.1 655 EX: #5UPDATE<cr> followed by #5CONFIRM<cr>
Coleman Benson 1.1 656
Coleman Benson 12.1 657 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.
658
Coleman Benson 13.1 659 Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
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