Wiki source code of LSS - Communication Protocol

Version 96.1 by Coleman Benson on 2019/02/01 16:02
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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 93.1 6 = Serial Protocol Concept =
RB1 64.19 7
Coleman Benson 94.1 8 The custom Lynxmotion Smart Servo (LSS) serial protocol was created in order to be as simple and straightforward as possible from a user perspective ("human readable format"), while at the same time compact and robust yet highly versatile. The protocol was based on Lynxmotion's SSC-32 RC servo controller and almost everything one might expect to be able to configure for a smart servo motor is available.
Coleman Benson 1.1 9
Coleman Benson 94.1 10 In order to have servos react differently when commands are sent to all servos in a serial bus, the first step a user should take is to assign a different ID number to each servo (explained below). Once this has been done, only the servo(s) which have been assigned to the ID sent as part of the command will follow that command. There is currently no CRC / checksum implemented as part of the protocol.
Coleman Benson 93.1 11
RB1 64.2 12 == Session ==
Coleman Benson 1.1 13
14 A "session" is defined as the time between when the servo is powered ON to when it is powered OFF or reset.
15
Coleman Benson 96.1 16 Note that for a given session, the action related to a specific commands overrides the stored value in EEPROM.
17
Coleman Benson 1.1 18 == Action Commands ==
19
Coleman Benson 94.1 20 Action commands tell the servo, within that session, to do something (i.e. "take an action"). The types of action commands which can be sent are described below, and they cannot be combined with other commands such as queries or configurations. Only one action command can be sent at a time. Action commands are session-specific, therefore once a servo is power cycled, it will not have any "memory" of previous actions or virtual positions (described below on this page). Action commands are sent serially to the servo's Rx pin and must be sent in the following format:
Coleman Benson 1.1 21
22 1. Start with a number sign # (U+0023)
23 1. Servo ID number as an integer
24 1. Action command (one to three letters, no spaces, capital or lower case)
25 1. Action value in the correct units with no decimal
26 1. End with a control / carriage return '<cr>'
27
28 (((
29 Ex: #5PD1443<cr>
30
Coleman Benson 94.1 31 This sends a serial command to all servo's Rx pins which are connected to the bus and only servo(s) with ID #5 will move to a position in tenths of degrees ("PD") of 144.3 degrees. Any servo on the bus which does not have ID 5 will take no action when receiving this command.
Coleman Benson 1.1 32
Coleman Benson 65.2 33 == Action Modifiers ==
Coleman Benson 1.1 34
Coleman Benson 94.1 35 Only two commands can be used as action modifiers: Timed Move (T) and Speed (S) described below. Action modifiers can only be used with certain action commands. The format to include a modifier is:
Coleman Benson 1.1 36
37 1. Start with a number sign # (U+0023)
38 1. Servo ID number as an integer
39 1. Action command (one to three letters, no spaces, capital or lower case)
40 1. Action value in the correct units with no decimal
41 1. Modifier command (one letter)
42 1. Modifier value in the correct units with no decimal
43 1. End with a control / carriage return '<cr>'
44
45 Ex: #5P1456T1263<cr>
46
Coleman Benson 94.1 47 This results in the servo with ID #5 rotating from the current angular position to a pulse position ("P") of 1456 in a time ("T") of 1263 milliseconds.
Coleman Benson 1.1 48 )))
49
50 == Query Commands ==
51
Coleman Benson 94.1 52 Query commands request information from the servo. They are received via the Rx pin of the servo, and the servo's reply is sent via the servo's Tx pin. Using separate lines for Tx and Rx is called "full duplex". Query commands are also similar to action and configuration commands and must use the following format:
Coleman Benson 1.1 53
54 1. Start with a number sign # (U+0023)
55 1. Servo ID number as an integer
56 1. Query command (one to three letters, no spaces, capital or lower case)
57 1. End with a control / carriage return '<cr>'
58
59 (((
60 Ex: #5QD<cr>Query position in degrees for servo #5
61 )))
62
63 (((
Coleman Benson 93.1 64 The query will return a serial string (almost instantaneously) via the servo's Tx pin with the following format:
Coleman Benson 1.1 65
Coleman Benson 93.1 66 1. Start with an asterisk * (U+002A)
Coleman Benson 1.1 67 1. Servo ID number as an integer
68 1. Query command (one to three letters, no spaces, capital letters)
69 1. The reported value in the units described, no decimals.
70 1. End with a control / carriage return '<cr>'
71
Coleman Benson 94.1 72 There is currently no option to control how fast a servo replies after it has received a query command, therefore when sending a query command to the bus, the controller should be prepared to immediately "listen" for and parse the reply. Sending multiple queries on a bus in fast succession may result in replies overlapping and giving incorrect or corrupt data. As such, the controller should receive a reply before sending a new command. A reply to the query sent above might be:
Coleman Benson 93.1 73
Coleman Benson 1.1 74 (((
75 Ex: *5QD1443<cr>
76 )))
77
Coleman Benson 94.1 78 This indicates that servo #5 is currently at 144.3 degrees (1443 tenths of degrees).
Coleman Benson 1.1 79
Coleman Benson 96.1 80 == Configuration Commands ==
81
82 Configuration commands and corresponding values affect a servo's defaults which are written to and read from the servo's EEPROM. These configurations are retained in memory after the servo is reset or power is cut / lost. Some configuration commands affect the session, while others do not (see each command for details). Not all action commands have a corresponding configuration and vice versa. More information about which configuration commands are retained when in RC mode can be found on the [[LSS - RC PWM page>>doc:Lynxmotion Smart Servo (LSS).LSS - RC PWM.WebHome]]. Configuration commands are not cumulative, in that if two configurations are sent, one after the next, only the last configuration is used and stored. The format to send a configuration command is identical to that of an action command:
83
84 1. Start with a number sign # (U+0023)
85 1. Servo ID number as an integer
86 1. Configuration command (two to three letters, no spaces, capital or lower case)
87 1. Configuration value in the correct units with no decimal
88 1. End with a control / carriage return '<cr>'
89
90 Ex: #5CO-50<cr>
91
92 This configures an absolute origin offset ("CO") with respect to factory origin to servo with ID #5 and changes the offset for that session to -5.0 degrees (50 tenths of degrees). Once the servo is powered off and then powered on, zeroing the servo will cause it to move to -5.0 degrees with respect to the factory origin and report its position as 0 degrees. Configuration commands can be undone / reset either by sending the servo's default value for that configuration, or by doing a factory reset (clears all configurations) described below.
93
Coleman Benson 16.1 94 **Session vs Configuration Query**
Coleman Benson 1.1 95
Coleman Benson 94.1 96 By default, the query command returns the sessions' value. Should no action commands have been sent to change the session value, it will return the value saved in EEPROM which will either be the servo's default, or modified with a configuration command. In order to query the value stored in EEPROM (configuration), add a '1' to the query command:
Coleman Benson 1.1 97
Coleman Benson 94.1 98 Ex: #5CSR20<cr> immediately sets the maximum speed for servo #5 to 20rpm (explained below) and changes the value in memory.
Coleman Benson 1.1 99
Coleman Benson 94.1 100 After RESET, a command of #5SR4<cr> sets the session's speed to 4rpm, but does not change the configuration value in memory. Therefore:
Coleman Benson 1.1 101
Coleman Benson 94.1 102 #5QSR<cr> would return *5QSR4<cr> which represents the value for that session, whereas
Coleman Benson 1.1 103
Coleman Benson 16.1 104 #5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
RB1 56.1 105
Coleman Benson 65.2 106 == Virtual Angular Position ==
RB1 56.1 107
Coleman Benson 94.1 108 The ability to store a "virtual angular position" is a feature which allows for rotation beyond 360 degrees, permitting multiple rotations of the output horn, moving the center position and more. In virtual position mode, the "absolute position" would be the angle of the output shaft with respect to a 360.0 degree circle, and can be obtained by taking the modulus (with respect to 360 degrees) of the value. For example if the virtual position is reported as 15335 (or 1533.5 degrees), taking the modulus would give 93.5 degrees (3600 * 4 + 935 = 15335) as the absolute position (assuming no origin offset).
RB1 56.1 109
110 [[image:LSS-servo-positions.jpg]]
111
Coleman Benson 94.1 112 In this example, the gyre direction (explained below, a.k.a. "rotation direction") is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees. The following command is sent:
RB1 56.1 113
Coleman Benson 93.1 114 #1D-300<cr> This causes the servo to move to -30.0 degrees (green arrow)
RB1 56.1 115
116 #1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
117
Coleman Benson 94.1 118 #1D-4200<cr> This next command rotates the servo counterclockwise to a position of -420 degrees (red arrow), which means one full rotation of 360 degrees plus 60.0 degrees (420.0 - 360.0), with a virtual position of -420.0 degrees.
RB1 56.1 119
120 Although the final physical position would be the same as if the servo were commanded to move to -60.0 degrees, the servo is in fact at -420.0 degrees.
121
122 #1D4800<cr> This new command is sent which would then cause the servo to rotate from -420.0 degrees to 480.0 degrees (blue arrow), which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations.
123
124 #1D3300<cr> would cause the servo to rotate from 480.0 degrees to 330.0 degrees (yellow arrow).
125
126 If / once the servo loses power or is power cycled, it also loses the virtual position associated with that session. For example, if the virtual position was 480.0 degrees before power is cycled, upon power up the servo's position will be read as +120.0 degrees from zero (assuming center position has not been modified).
Coleman Benson 16.1 127 )))
Coleman Benson 1.1 128
129 = Command List =
130
Coleman Benson 96.1 131 |= #|=Description|= Action|= Query|= Config|=(((
132 Config Affects
133
134 Session
135 )))|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
136 | 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| L| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
137 | 2|[[**H**alt & **H**old>>||anchor="H2.Halt26Hold28H29"]]| H| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
138 | 3|[[**T**imed move>>||anchor="H3.Timedmove28T29"]]| T| | | | | ✓|milliseconds|(% style="width:510px" %) Modifier only for {P, D, MD}|(% style="text-align:center; width:113px" %)
139 | 4|[[**S**peed>>||anchor="H4.Speed28S29"]]| S| | | | | ✓|microseconds per second|(% style="width:510px" %) Modifier only {P}|(% style="text-align:center; width:113px" %)
140 | 5|[[**M**ove in **D**egrees (relative)>>||anchor="H5.28Relative29MoveinDegrees28MD29"]]| MD| | | | | ✓|tenths of degrees (ex 325 = 32.5 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
141 | 6|[[**O**rigin Offset>>||anchor="H6.OriginOffsetAction28O29"]]| O| QO| CO| | ✓| ✓|tenths of degrees (ex 91 = 9.1 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
Coleman Benson 93.1 142 0
Eric Nantel 92.1 143 )))
Coleman Benson 96.1 144 | 7|[[**A**ngular **R**ange>>||anchor="H7.AngularRange28AR29"]]| AR| QAR| CAR| | ✓| ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
Coleman Benson 93.1 145 1800
Eric Nantel 92.1 146 )))
Coleman Benson 96.1 147 | 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| P| QP| | | | ✓|microseconds|(% style="width:510px" %)(((
Coleman Benson 93.1 148 Inherited from SSC-32 serial protocol
149 )))|(% style="text-align:center; width:113px" %)
Coleman Benson 96.1 150 | 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD| | | | ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
151 | 10|[[**W**heel mode in **D**egrees>>||anchor="H10.WheelModeinDegrees28WD29"]]| WD| QWD| | | | ✓|tenths of degrees per second (ex 248 = 24.8 degrees per second)|(% style="width:510px" %)A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center; width:113px" %)
152 | 11|[[**W**heel mode in **R**PM>>||anchor="H11.WheelModeinRPM28WR29"]]| WR| QWR| | | | ✓|revolutions per minute (rpm)|(% style="width:510px" %)A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center; width:113px" %)
153 | 12|[[Max **S**peed in **D**egrees>>||anchor="H12.SpeedinDegrees28SD29"]]| SD| QSD|CSD| | ✓| ✓|tenths of degrees per second |(% style="width:510px" %)(((
Coleman Benson 94.1 154 QSD: Add modifier "2" for instantaneous speed.
155
156 SD overwrites SR / CSD overwrites CSR and vice-versa.
157 )))|(% style="text-align:center; width:113px" %)Max per servo
Coleman Benson 96.1 158 | 13|[[Max **S**peed in **R**PM>>||anchor="H13.SpeedinRPM28SR29"]]| SR| QSR|CSR| | ✓| ✓|revolutions per minute (rpm)|(% style="width:510px" %)(((
Coleman Benson 94.1 159 QSR: Add modifier "2" for instantaneous speed
160
161 SR overwrites SD / CSR overwrites CSD and vice-versa.
162 )))|(% style="text-align:center; width:113px" %)Max per servo
Coleman Benson 96.1 163 | 16|[[**LED** Color>>||anchor="H16.RGBLED28LED29"]]| LED| QLED| CLED| | ✓| ✓|none (integer from 0 to 8)|(% style="width:510px" %)0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;|(% style="text-align:center; width:113px" %)7
164 | 17|[[**ID** #>>||anchor="H17.IdentificationNumber"]]| | QID| CID| | | ✓|none (integer from 0 to 250)|(% style="width:510px" %)Note: ID 254 is a "broadcast" which all servos respond to|(% style="text-align:center; width:113px" %)0
165 | 18|[[**B**aud rate>>||anchor="H18.BaudRate"]]| B| QB| CB| | | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)9600
166 | 19|[[**G**yre direction (**G**)>>||anchor="H19.GyreRotationDirection"]]| G| QG| CG| | ✓| ✓|none |(% style="width:510px" %)Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise)|(% style="text-align:center; width:113px" %)1
167 | 20|[[**F**irst Position (**P**ulse)>>||anchor="H20.First2InitialPosition28pulse29"]]| | QFP|CFP | | ✓| ✓|none |(% style="width:510px" %)CFP overwrites CFD and vice-versa|(% style="text-align:center; width:113px" %)(((
Eric Nantel 92.1 168 Limp
169 )))
Coleman Benson 96.1 170 | 21|[[**F**irst Position (**D**egrees)>>||anchor="H21.First2InitialPosition28Degrees29"]]| | QFD|CFD| | ✓| ✓|none |(% style="width:510px" %)CFD overwrites CFP and vice-versa|(% style="text-align:center; width:113px" %)Limp
171 | 22|[[**T**arget (**D**egree) **P**osition>>||anchor="H22.QueryTargetPositioninDegrees28QDT29"]]| | QDT| | | | ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
172 | 23|[[**M**odel **S**tring>>||anchor="H23.QueryModelString28QMS29"]]| | QMS| | | | |none (string)|(% style="width:510px" %) Returns the type of servo (ST, HS, HT)|(% style="text-align:center; width:113px" %)
173 | 24|[[Serial **N**umber>>||anchor="H24.QuerySerialNumber28QN29"]]| | QN| | | | |none (integer)|(% style="width:510px" %) Returns the unique serial number for that servo|(% style="text-align:center; width:113px" %)
174 | 25|[[**F**irmware version>>||anchor="H25.QueryFirmware28QF29"]]| | QF| | | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
175 | 26|[[**Q**uery (general status)>>||anchor="H26.QueryStatus28Q29"]]| | Q| | | | ✓|none (integer from 1 to 8)|(% style="width:510px" %) See command description for details|(% style="text-align:center; width:113px" %)
176 | 27|[[**V**oltage>>||anchor="H27.QueryVoltage28QV29"]]| | QV| | | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
177 | 28|[[**T**emperature>>||anchor="H28.QueryTemperature28QT29"]]| | QT| | | | ✓|tenths of degrees Celsius|(% style="width:510px" %)Max temp before error: 85°C (servo goes limp)|(% style="text-align:center; width:113px" %)
178 | 29|[[**C**urrent>>||anchor="H29.QueryCurrent28QC29"]]| | QC| | | | ✓|milliamps (ex 200 = 0.2A)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
179 | 30a|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]] - Position| | |CRC1| | | ✓|none|(% style="width:510px" %)(((
RB1 48.1 180 Puts the servo into RC mode. To revert to smart mode, use the button menu.
Coleman Benson 93.1 181 )))|(% style="text-align:center; width:113px" %)Serial
Coleman Benson 96.1 182 | 30b|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]] - Wheel| | |CRC2| | | ✓| |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
183 | 31|[[**RESET**>>||anchor="H31.RESET"]]| | | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %)
184 | 32|[[**DEFAULT**>>||anchor="H32.DEFAULTA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %)
185 | 33|[[**UPDATE**>>||anchor="H33.UPDATEA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Update firmware. See command for details.|(% style="text-align:center; width:113px" %)
Coleman Benson 1.1 186
Coleman Benson 93.1 187 == Advanced ==
188
189 |= #|=Description|= Action|= Query|= Config|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
Coleman Benson 96.1 190 | A1|[[**A**ngular **S**tiffness>>||anchor="H14.AngularStiffness28AS29"]]| AS|QAS|CAS| ✓| ✓|none (integer -4 to +4)|(% style="width:510px" %)Suggested values are between 0 to +4|(% style="text-align:center; width:113px" %)0
191 | A2|[[**A**ngular **H**olding Stiffness>>||anchor="H15.AngularHoldStiffness28AH29"]]|AH|QAH|CAH| | ✓|none (integer -10 to +10)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)1
192 | A3|[[**A**ngular **A**cceleration>>||anchor="H15b:AngularAcceleration28AA29"]]|AA|QAA|CAA| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared|(% style="text-align:center; width:113px" %)
193 | A4|[[**A**ngular **D**eceleration>>||anchor="H15c:AngularDeceleration28AD29"]]|AD|QAD|CAD| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared|(% style="text-align:center; width:113px" %)
194 | A5|[[**E**nable **M**otion Control>>||anchor="H15d:MotionControl28MC29"]]|EM|QEM| | | ✓|none|(% style="width:510px" %)EM0 to disable motion control, EM1 to enable|(% style="text-align:center; width:113px" %)
195 | A6|[[**C**onfigure **L**ED **B**linking>>||anchor="H16b.ConfigureLEDBlinking28CLB29"]]| | | CLB| ✓| |none (integer from 0 to 63)|(% style="width:510px" %)(((
196 0=No blinking, 63=Always blink;
Coleman Benson 93.1 197
Coleman Benson 96.1 198 Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;
199 )))|(% style="text-align:center; width:113px" %)
200
RB1 64.3 201 == Details ==
Coleman Benson 1.1 202
RB1 64.15 203 ====== __1. Limp (**L**)__ ======
Coleman Benson 1.1 204
205 Example: #5L<cr>
206
207 This action causes the servo to go "limp". The microcontroller will still be powered, but the motor will not. As an emergency safety feature, should the robot not be doing what it is supposed to or risks damage, use the broadcast ID to set all servos limp #254L<cr>.
208
RB1 64.16 209 ====== __2. Halt & Hold (**H**)__ ======
Coleman Benson 1.1 210
211 Example: #5H<cr>
212
Coleman Benson 96.1 213 This action overrides whatever the servo might be doing at the time the command is received (accelerating, moving continuously etc.) and causes it to stop immediately and hold that angular position.
Coleman Benson 1.1 214
RB1 64.16 215 ====== __3. Timed move (**T**)__ ======
Coleman Benson 1.1 216
217 Example: #5P1500T2500<cr>
218
Coleman Benson 96.1 219 Timed move can be used only as a modifier for a position (P, D, MD) actions. The units are in milliseconds, so a timed move of 2500 milliseconds would cause the servo to rotate from its current position to the desired position in 2.5 seconds. The onboard controller will attempt to ensure that the move is performed entirely at the desired velocity, though differences in torque may cause it to not be exact. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.
Coleman Benson 1.1 220
Coleman Benson 72.1 221 Note: If the calculated speed at which a servo must rotate for a timed move is greater than its maximum speed (which depends on voltage and load), then it will move at its maximum speed, and the time of the move may be longer than requested.
222
RB1 64.28 223 ====== __4. Speed (**S**)__ ======
Coleman Benson 1.1 224
225 Example: #5P1500S750<cr>
226
227 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.
228
RB1 64.16 229 ====== __5. (Relative) Move in Degrees (**MD**)__ ======
Coleman Benson 1.1 230
231 Example: #5MD123<cr>
232
233 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.
234
RB1 64.16 235 ====== __6. Origin Offset Action (**O**)__ ======
Coleman Benson 1.1 236
237 Example: #5O2400<cr>
238
Coleman Benson 96.1 239 This command allows you to temporarily change the origin of the servo in relation to the factory zero position for that session. As with all action commands, the setting will be lost upon servo reset / power cycle. Origin offset commands are not cumulative and always relate to factory zero. In the first image, the origin at factory offset '0' (centered).
Coleman Benson 1.1 240
241 [[image:LSS-servo-default.jpg]]
242
Coleman Benson 96.1 243 In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
Coleman Benson 1.1 244
245 [[image:LSS-servo-origin.jpg]]
246
247 Origin Offset Query (**QO**)
248
249 Example: #5QO<cr> Returns: *5QO-13
250
Coleman Benson 96.1 251 This allows you to query the angle (in tenths of degrees) of the origin in relation to the factory zero position. In this example, the new origin is at -1.3 degrees from the factory zero.
Coleman Benson 1.1 252
253 Configure Origin Offset (**CO**)
254
255 Example: #5CO-24<cr>
256
Coleman Benson 96.1 257 This command allows you to change the origin of the servo in relation to the factory zero position in EEPROM. The setting will be saved upon servo reset / power cycle. Origin offset configuration commands are not cumulative and always relate to factory zero. The new origin is also used in RC mode. In the example, the new origin will be at -2.4 degrees from the factory zero.
Coleman Benson 1.1 258
RB1 64.16 259 ====== __7. Angular Range (**AR**)__ ======
Coleman Benson 1.1 260
261 Example: #5AR1800<cr>
262
Coleman Benson 96.1 263 This command allows you to temporarily change the total angular range of the servo in tenths of degrees. This applies to the Position in Pulse (P) command and RC mode. The default for (P) and RC mode is 1800 (180.0 degrees total, or ±90.0 degrees). The image below shows a standard -180.0 to +180.0 range, with no offset:
Coleman Benson 1.1 264
265 [[image:LSS-servo-default.jpg]]
266
Coleman Benson 96.1 267 Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
Coleman Benson 1.1 268
269 [[image:LSS-servo-ar.jpg]]
270
Coleman Benson 96.1 271 Finally, the angular range action command (ex. #5AR1800<cr>) and origin offset action command (ex. #5O-1200<cr>) are used to move both the center and limit the angular range:
Coleman Benson 1.1 272
273 [[image:LSS-servo-ar-o-1.jpg]]
274
275 Query Angular Range (**QAR**)
276
Coleman Benson 96.1 277 Example: #5QAR<cr> might return *5AR1800, indicating the total angular range is 180.0 degrees.
Coleman Benson 1.1 278
279 Configure Angular Range (**CAR**)
280
281 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.
282
RB1 64.16 283 ====== __8. Position in Pulse (**P**)__ ======
Coleman Benson 1.1 284
285 Example: #5P2334<cr>
286
Coleman Benson 11.1 287 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 1.1 288
289 Query Position in Pulse (**QP**)
290
Coleman Benson 37.1 291 Example: #5QP<cr> might return *5QP2334
Coleman Benson 1.1 292
Coleman Benson 11.1 293 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 37.1 294 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 1.1 295
RB1 64.16 296 ====== __9. Position in Degrees (**D**)__ ======
Coleman Benson 1.1 297
298 Example: #5PD1456<cr>
299
300 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.
301
302 Larger values are permitted and allow for multi-turn functionality using the concept of virtual position.
303
304 Query Position in Degrees (**QD**)
305
Coleman Benson 37.1 306 Example: #5QD<cr> might return *5QD132<cr>
Coleman Benson 1.1 307
Coleman Benson 37.1 308 This means the servo is located at 13.2 degrees.
309
RB1 64.16 310 ====== __10. Wheel Mode in Degrees (**WD**)__ ======
Coleman Benson 1.1 311
312 Ex: #5WD900<cr>
313
314 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).
315
316 Query Wheel Mode in Degrees (**QWD**)
317
318 Ex: #5QWD<cr> might return *5QWD900<cr>
319
320 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).
321
RB1 64.16 322 ====== __11. Wheel Mode in RPM (**WR**)__ ======
Coleman Benson 1.1 323
324 Ex: #5WR40<cr>
325
326 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).
327
328 Query Wheel Mode in RPM (**QWR**)
329
330 Ex: #5QWR<cr> might return *5QWR40<cr>
331
332 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).
333
RB1 64.16 334 ====== __12. Speed in Degrees (**SD**)__ ======
Coleman Benson 1.1 335
336 Ex: #5SD1800<cr>
337
338 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.
339
340 Query Speed in Degrees (**QSD**)
341
342 Ex: #5QSD<cr> might return *5QSD1800<cr>
343
RB1 25.1 344 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 23.1 345 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 1.1 346
RB1 24.1 347 |**Command sent**|**Returned value (1/10 °)**
Coleman Benson 32.1 348 |ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
349 |ex: #5QSD1<cr>|Configured maximum speed  (set by CSD/CSR)
350 |ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
351 |ex: #5QSD3<cr>|Target travel speed
RB1 23.1 352
Coleman Benson 1.1 353 Configure Speed in Degrees (**CSD**)
354
355 Ex: #5CSD1800<cr>
356
357 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.
358
RB1 64.16 359 ====== __13. Speed in RPM (**SR**)__ ======
Coleman Benson 1.1 360
361 Ex: #5SD45<cr>
362
363 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.
364
365 Query Speed in Degrees (**QSR**)
366
367 Ex: #5QSR<cr> might return *5QSR45<cr>
368
RB1 25.1 369 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.
370 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 1.1 371
RB1 25.1 372 |**Command sent**|**Returned value (1/10 °)**
Coleman Benson 32.1 373 |ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
374 |ex: #5QSR1<cr>|Configured maximum speed  (set by CSD/CSR)
375 |ex: #5QSR2<cr>|Instantaneous speed (same as QWR)
376 |ex: #5QSR3<cr>|Target travel speed
Coleman Benson 1.1 377
RB1 25.1 378 Configure Speed in RPM (**CSR**)
379
Coleman Benson 1.1 380 Ex: #5CSR45<cr>
381
RB1 25.1 382 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 1.1 383
RB1 64.16 384 ====== __14. Angular Stiffness (**AS**)__ ======
Coleman Benson 15.1 385
Coleman Benson 31.1 386 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 15.1 387
Coleman Benson 31.1 388 A positive value of "angular stiffness":
Coleman Benson 15.1 389
390 * The more torque will be applied to try to keep the desired position against external input / changes
391 * The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
392
393 A negative value on the other hand:
394
395 * Causes a slower acceleration to the travel speed, and a slower deceleration
396 * Allows the target position to deviate more from its position before additional torque is applied to bring it back
397
398 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.
399
Coleman Benson 31.1 400 Ex: #5AS-2<cr>
Coleman Benson 15.1 401
Coleman Benson 31.1 402 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 15.1 403
Coleman Benson 31.1 404 Ex: #5QAS<cr>
Coleman Benson 15.1 405
406 Queries the value being used.
407
Coleman Benson 31.1 408 Ex: #5CAS<cr>
Coleman Benson 15.1 409
Coleman Benson 31.1 410 Writes the desired angular stiffness value to memory.
Coleman Benson 15.1 411
RB1 64.16 412 ====== __15. Angular Hold Stiffness (**AH**)__ ======
Coleman Benson 15.1 413
Coleman Benson 62.1 414 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 15.1 415
Coleman Benson 62.1 416 Ex: #5AH3<cr>
417
418 This sets the holding stiffness for servo #5 to 3 for that session.
419
420 Query Angular Hold Stiffness (**QAH**)
421
422 Ex: #5QAH<cr> might return *5QAH3<cr>
423
424 This returns the servo's angular holding stiffness value.
425
Coleman Benson 63.1 426 Configure Angular Hold Stiffness (**CAH**)
Coleman Benson 62.1 427
428 Ex: #5CAH2<cr>
429
430 This writes the angular holding stiffness of servo #5 to 2 to EEPROM
431
RB1 64.16 432 ====== __15b: Angular Acceleration (**AA**)__ ======
Coleman Benson 63.1 433
434 {More details to come}
435
RB1 64.16 436 ====== __15c: Angular Deceleration (**AD**)__ ======
Coleman Benson 63.1 437
438 {More details to come}
439
RB1 71.1 440 ====== __15d: Motion Control (**EM**)__ ======
Coleman Benson 63.1 441
442 {More details to come}
443
RB1 64.16 444 ====== __16. RGB LED (**LED**)__ ======
Coleman Benson 1.1 445
446 Ex: #5LED3<cr>
447
448 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.
449
Coleman Benson 9.1 450 0=OFF 1=RED 2=GREEN 3= BLUE 4=YELLOW 5=CYAN 6= 7=MAGENTA, 8=WHITE 
Coleman Benson 1.1 451
452 Query LED Color (**QLED**)
453
454 Ex: #5QLED<cr> might return *5QLED5<cr>
455
456 This simple query returns the indicated servo's LED color.
457
458 Configure LED Color (**CLED**)
459
Coleman Benson 35.1 460 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 1.1 461
RB1 83.1 462 ====== __16b. Configure LED Blinking (**CLB**)__ ======
463
RB1 90.1 464 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 87.1 465 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 83.1 466
RB1 85.1 467 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:
468
469 Ex: #5CLB0<cr> to turn off all blinking (LED always solid)
470 Ex: #5CLB1<cr> only blink when limp
471 Ex: #5CLB2<cr> only blink when holding
472 Ex: #5CLB12<cr> only blink when accel or decel
473 Ex: #5CLB48<cr> only blink when free or travel
474 Ex: #5CLB63<cr> blink in all status
475
RB1 64.16 476 ====== __17. Identification Number__ ======
Coleman Benson 1.1 477
RB1 17.1 478 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 1.1 479
480 Query Identification (**QID**)
481
Coleman Benson 38.1 482 EX: #254QID<cr> might return *QID5<cr>
Coleman Benson 1.1 483
Coleman Benson 38.1 484 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 1.1 485
486 Configure ID (**CID**)
487
Coleman Benson 38.1 488 Ex: #4CID5<cr>
Coleman Benson 1.1 489
490 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.
491
RB1 64.16 492 ====== __18. Baud Rate__ ======
Coleman Benson 1.1 493
RB1 20.1 494 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 22.1 495 \*: 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 1.1 496
497 Query Baud Rate (**QB**)
498
499 Ex: #5QB<cr> might return *5QB9600<cr>
500
501 Querying the baud rate is used simply to confirm the CB configuration command before the servo is power cycled.
502
503 Configure Baud Rate (**CB**)
504
Coleman Benson 93.1 505 Important Note: the servo's current session retains the given baud rate and the new baud rate will only be in place when the servo is power cycled.
506
Coleman Benson 1.1 507 Ex: #5CB9600<cr>
508
509 Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
510
RB1 64.16 511 ====== __19. Gyre Rotation Direction__ ======
Coleman Benson 1.1 512
513 "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).
514
515 {images showing before and after with AR and Origin offset}
516
517 Query Gyre Direction (**QG**)
518
519 Ex: #5QG<cr> might return *5QG-1<cr>
520
521 The value returned above means the servo is in a counter-clockwise gyration.
522
523 Configure Gyre (**CG**)
524
525 Ex: #5CG-1<cr>
526
527 This changes the gyre direction as described above and also writes to EEPROM.
528
RB1 64.16 529 ====== __20. First / Initial Position (pulse)__ ======
Coleman Benson 1.1 530
RB1 49.1 531 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 1.1 532
533 Query First Position in Pulses (**QFP**)
534
535 Ex: #5QFP<cr> might return *5QFP1550<cr>
536
Coleman Benson 36.1 537 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 1.1 538
Coleman Benson 36.1 539 Configure First Position in Pulses (**CFP**)
Coleman Benson 1.1 540
541 Ex: #5CP1550<cr>
542
Coleman Benson 36.1 543 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 1.1 544
RB1 64.16 545 ====== __21. First / Initial Position (Degrees)__ ======
Coleman Benson 1.1 546
RB1 49.1 547 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 1.1 548
549 Query First Position in Degrees (**QFD**)
550
551 Ex: #5QFD<cr> might return *5QFD64<cr>
552
553 The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds.
554
555 Configure First Position in Degrees (**CFD**)
556
557 Ex: #5CD64<cr>
558
RB1 49.1 559 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 1.1 560
RB1 64.16 561 ====== __22. Query Target Position in Degrees (**QDT**)__ ======
Coleman Benson 1.1 562
563 Ex: #5QDT<cr> might return *5QDT6783<cr>
564
565 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>).
566
RB1 64.16 567 ====== __23. Query Model String (**QMS**)__ ======
Coleman Benson 1.1 568
RB1 64.1 569 Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
Coleman Benson 1.1 570
RB1 64.1 571 This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
Coleman Benson 1.1 572
RB1 64.16 573 ====== __23b. Query Model (**QM**)__ ======
RB1 64.1 574
575 Ex: #5QM<cr> might return *5QM68702699520cr>
576
577 This reply means the servo model is 0xFFF000000 or 100, meaning a high speed servo, first revision.
578
RB1 64.16 579 ====== __24. Query Serial Number (**QN**)__ ======
Coleman Benson 1.1 580
581 Ex: #5QN<cr> might return *5QN~_~_<cr>
582
583 The number in the response is the servo's serial number which is set and cannot be changed.
584
RB1 64.16 585 ====== __25. Query Firmware (**QF**)__ ======
Coleman Benson 1.1 586
587 Ex: #5QF<cr> might return *5QF11<cr>
588
589 The integer in the reply represents the firmware version with one decimal, in this example being 1.1
590
RB1 64.16 591 ====== __26. Query Status (**Q**)__ ======
Coleman Benson 1.1 592
RB1 34.1 593 Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
Coleman Benson 1.1 594
Coleman Benson 35.1 595 |*Value returned|**Status**|**Detailed description**
RB1 34.1 596 |ex: *5Q0<cr>|Unknown|LSS is unsure
597 |ex: *5Q1<cr>|Limp|Motor driving circuit is not powered and horn can be moved freely
598 |ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
599 |ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
600 |ex: *5Q4<cr>|Traveling|Moving at a stable speed
Coleman Benson 69.1 601 |ex: *5Q5<cr>|Decelerating|Decreasing from travel speed towards final position.
RB1 34.1 602 |ex: *5Q6<cr>|Holding|Keeping current position
603 |ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque
Coleman Benson 69.1 604 |ex: *5Q8<cr>|Outside limits|{More details coming soon}
RB1 34.1 605 |ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting
Coleman Benson 69.1 606 |ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
Coleman Benson 1.1 607
RB1 64.16 608 ====== __27. Query Voltage (**QV**)__ ======
Coleman Benson 1.1 609
Coleman Benson 59.1 610 Ex: #5QV<cr> might return *5QV11200<cr>
Coleman Benson 1.1 611
612 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).
613
RB1 64.16 614 ====== __28. Query Temperature (**QT**)__ ======
Coleman Benson 1.1 615
616 Ex: #5QT<cr> might return *5QT564<cr>
617
618 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.
619
RB1 64.16 620 ====== __29. Query Current (**QC**)__ ======
Coleman Benson 1.1 621
622 Ex: #5QC<cr> might return *5QC140<cr>
623
624 The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
625
RB1 64.16 626 ====== __30. RC Mode (**CRC**)__ ======
Coleman Benson 42.1 627
RB1 51.1 628 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 42.1 629
RB1 50.1 630 |**Command sent**|**Note**
631 |ex: #5CRC<cr>|Stay in smart mode.
632 |ex: #5CRC1<cr>|Change to RC position mode.
633 |ex: #5CRC2<cr>|Change to RC continuous (wheel) mode.
RB1 52.2 634 |ex: #5CRC*<cr>|Where * is any number or value. Stay in smart mode.
RB1 50.1 635
Coleman Benson 42.1 636 EX: #5CRC<cr>
637
RB1 64.16 638 ====== __31. RESET__ ======
Coleman Benson 1.1 639
640 Ex: #5RESET<cr> or #5RS<cr>
641
642 This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
643
RB1 64.16 644 ====== __32. DEFAULT & CONFIRM__ ======
Coleman Benson 1.1 645
646 Ex: #5DEFAULT<cr>
647
Coleman Benson 12.1 648 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 1.1 649
Coleman Benson 12.1 650 EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
Coleman Benson 1.1 651
Coleman Benson 12.1 652 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 1.1 653
Coleman Benson 13.1 654 Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
655
RB1 64.16 656 ====== __33. UPDATE & CONFIRM__ ======
Coleman Benson 1.1 657
Coleman Benson 12.1 658 Ex: #5UPDATE<cr>
Coleman Benson 1.1 659
Coleman Benson 12.1 660 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 1.1 661
Coleman Benson 12.1 662 EX: #5UPDATE<cr> followed by #5CONFIRM<cr>
Coleman Benson 1.1 663
Coleman Benson 12.1 664 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.
665
Coleman Benson 13.1 666 Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
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