Wiki source code of LSS - Communication Protocol

Version 98.16 by Coleman Benson on 2019/02/05 13:36
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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
Coleman Benson 98.2 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. In the Command table below, the column "Session" denotes if the configuration command affects the session.. Not all action commands have a corresponding configuration command and vice versa. More information about which configuration commands are retained when in RC mode can be found on the [[LSS - RC PWM page>>doc:Lynxmotion Smart Servo (LSS).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:
Coleman Benson 96.1 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 98.1 131 |= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
132 | 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| L| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
133 | 2|[[**H**alt & **H**old>>||anchor="H2.Halt26Hold28H29"]]| H| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
Coleman Benson 98.8 134 | 3|[[**T**imed move>>||anchor="H3.Timedmove28T29modifier"]]| T| | | | | ✓|milliseconds|(% style="width:510px" %) Modifier only for {P, D, MD}|(% style="text-align:center; width:113px" %)
Coleman Benson 98.10 135 | 4|[[**S**peed>>||anchor="H4.Speed28S29modifier"]]| S| | | | | ✓|microseconds per second|(% style="width:510px" %) Modifier only {P}|(% style="text-align:center; width:113px" %)
Coleman Benson 98.1 136 | 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" %)
137 | 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 93.1 138 0
Eric Nantel 92.1 139 )))
Coleman Benson 98.1 140 | 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 93.1 141 1800
Eric Nantel 92.1 142 )))
Coleman Benson 98.1 143 | 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| P| QP| | | | ✓|microseconds|(% style="width:510px" %)(((
Coleman Benson 93.1 144 Inherited from SSC-32 serial protocol
145 )))|(% style="text-align:center; width:113px" %)
Coleman Benson 98.5 146 | 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD / QDT| | | | ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
Coleman Benson 98.1 147 | 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" %)
148 | 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" %)
Coleman Benson 98.11 149 | 12|[[Max **S**peed in **D**egrees>>||anchor="H12.MaxSpeedinDegrees28SD29"]]| SD| QSD|CSD|✓| ✓| ✓|tenths of degrees per second |(% style="width:510px" %)(((
Coleman Benson 94.1 150 QSD: Add modifier "2" for instantaneous speed.
151
152 SD overwrites SR / CSD overwrites CSR and vice-versa.
153 )))|(% style="text-align:center; width:113px" %)Max per servo
Coleman Benson 98.12 154 | 13|[[Max **S**peed in **R**PM>>||anchor="H13.MaxSpeedinRPM28SR29"]]| SR| QSR|CSR|✓| ✓| ✓|revolutions per minute (rpm)|(% style="width:510px" %)(((
Coleman Benson 94.1 155 QSR: Add modifier "2" for instantaneous speed
156
157 SR overwrites SD / CSR overwrites CSD and vice-versa.
158 )))|(% style="text-align:center; width:113px" %)Max per servo
Coleman Benson 98.14 159 | 14|[[**LED** Color>>||anchor="H14.LEDColor28LED29"]]| 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
Coleman Benson 98.15 160 | 15|[[**G**yre direction (**G**)>>||anchor="H15.GyreRotationDirection28G29"]]| G| QG| CG|✓| ✓| ✓|none |(% style="width:510px" %)Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)|(% style="text-align:center; width:113px" %)1
Coleman Benson 98.16 161 | 16|[[**ID** #>>||anchor="H16.IdentificationNumber28ID28"]]| | 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
Coleman Benson 98.3 162 | 17|[[**B**aud rate>>||anchor="H18.BaudRate"]]| | QB| CB| | | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)9600
163 | 18|[[**F**irst Position (**P**ulse)>>||anchor="H20.First2InitialPosition28pulse29"]]| | QFP|CFP |X| ✓| ✓|none |(% style="width:510px" %)CFP overwrites CFD and vice-versa|(% style="text-align:center; width:113px" %)(((
Eric Nantel 92.1 164 Limp
165 )))
Coleman Benson 98.3 166 | 19|[[**F**irst Position (**D**eg)>>||anchor="H21.First2InitialPosition28Degrees29"]]| | QFD|CFD|X| ✓| ✓|none |(% style="width:510px" %)CFD overwrites CFP and vice-versa|(% style="text-align:center; width:113px" %)Limp
Coleman Benson 98.6 167 | 20|[[**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" %)
168 | 21|[[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" %)
169 | 22|[[**F**irmware version>>||anchor="H25.QueryFirmware28QF29"]]| | QF| | | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
170 | 23|[[**Q**uery (gen. 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" %)
171 | 24|[[**V**oltage>>||anchor="H27.QueryVoltage28QV29"]]| | QV| | | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
172 | 25|[[**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" %)
173 | 26|[[**C**urrent>>||anchor="H29.QueryCurrent28QC29"]]| | QC| | | | ✓|milliamps (ex 200 = 0.2A)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
174 | 27|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]] - Position| | |CRC1|✓| | ✓|none|(% style="width:510px" %)(((
Coleman Benson 98.2 175 Change to RC position mode. To revert to smart mode, use the button menu.
Coleman Benson 93.1 176 )))|(% style="text-align:center; width:113px" %)Serial
Coleman Benson 98.6 177 | 28|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]] - Wheel| | |CRC2|✓| | ✓| |(% style="width:510px" %)Change to RC wheel mode. To revert to smart mode, use the button menu.|(% style="text-align:center; width:113px" %)Serial
178 | 29|[[**RESET**>>||anchor="H31.RESET"]]| | | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %)
179 | 30|[[**DEFAULT**>>||anchor="H32.DEFAULTA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %)
180 | 31|[[**UPDATE**>>||anchor="H33.UPDATEA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Update firmware. See command for details.|(% style="text-align:center; width:113px" %)
Coleman Benson 1.1 181
Coleman Benson 93.1 182 == Advanced ==
183
Coleman Benson 98.1 184 |= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
185 | 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
186 | 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
187 | 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" %)
188 | 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" %)
189 | 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" %)
190 | A6|[[**C**onfigure **L**ED **B**linking>>||anchor="H16b.ConfigureLEDBlinking28CLB29"]]| | | CLB| | ✓| |none (integer from 0 to 63)|(% style="width:510px" %)(((
Coleman Benson 96.1 191 0=No blinking, 63=Always blink;
Coleman Benson 93.1 192
Coleman Benson 96.1 193 Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;
194 )))|(% style="text-align:center; width:113px" %)
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
Coleman Benson 96.1 208 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 angular position.
Coleman Benson 1.1 209
Coleman Benson 98.3 210 ====== __3. Timed move (**T**) modifier__ ======
Coleman Benson 1.1 211
212 Example: #5P1500T2500<cr>
213
Coleman Benson 96.1 214 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 1.1 215
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
Coleman Benson 98.3 218 ====== __4. Speed (**S**) modifier__ ======
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
Coleman Benson 96.1 234 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 1.1 235
236 [[image:LSS-servo-default.jpg]]
237
Coleman Benson 96.1 238 In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
Coleman Benson 1.1 239
240 [[image:LSS-servo-origin.jpg]]
241
242 Origin Offset Query (**QO**)
243
244 Example: #5QO<cr> Returns: *5QO-13
245
Coleman Benson 96.1 246 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 1.1 247
248 Configure Origin Offset (**CO**)
249
250 Example: #5CO-24<cr>
251
Coleman Benson 96.1 252 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. In the example, the new origin will be at -2.4 degrees from the factory zero.
Coleman Benson 1.1 253
RB1 64.16 254 ====== __7. Angular Range (**AR**)__ ======
Coleman Benson 1.1 255
256 Example: #5AR1800<cr>
257
Coleman Benson 96.1 258 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). The image below shows a standard -180.0 to +180.0 range, with no offset:
Coleman Benson 1.1 259
260 [[image:LSS-servo-default.jpg]]
261
Coleman Benson 96.1 262 Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
Coleman Benson 1.1 263
264 [[image:LSS-servo-ar.jpg]]
265
Coleman Benson 96.1 266 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 1.1 267
268 [[image:LSS-servo-ar-o-1.jpg]]
269
270 Query Angular Range (**QAR**)
271
Coleman Benson 96.1 272 Example: #5QAR<cr> might return *5AR1800, indicating the total angular range is 180.0 degrees.
Coleman Benson 1.1 273
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
Coleman Benson 98.5 305 (% class="wikigeneratedid" id="H22.QueryTargetPositioninDegrees28QDT29" %)
306 Query Target Position in Degrees (**QDT**)
307
308 Ex: #5QDT<cr> might return *5QDT6783<cr>
309
310 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>).
311
RB1 64.16 312 ====== __10. Wheel Mode in Degrees (**WD**)__ ======
Coleman Benson 1.1 313
314 Ex: #5WD900<cr>
315
316 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).
317
318 Query Wheel Mode in Degrees (**QWD**)
319
320 Ex: #5QWD<cr> might return *5QWD900<cr>
321
322 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).
323
RB1 64.16 324 ====== __11. Wheel Mode in RPM (**WR**)__ ======
Coleman Benson 1.1 325
326 Ex: #5WR40<cr>
327
328 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).
329
330 Query Wheel Mode in RPM (**QWR**)
331
332 Ex: #5QWR<cr> might return *5QWR40<cr>
333
334 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).
335
Coleman Benson 98.2 336 ====== __12. Max Speed in Degrees (**SD**)__ ======
Coleman Benson 1.1 337
338 Ex: #5SD1800<cr>
339
Coleman Benson 98.2 340 This command sets the servo's maximum speed for motion commands in tenths of degrees per second for that session. In the example above, the servo's maximum speed for that session would be set to 180.0 degrees per second. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. The SD action command overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD and SR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.
Coleman Benson 1.1 341
342 Query Speed in Degrees (**QSD**)
343
344 Ex: #5QSD<cr> might return *5QSD1800<cr>
345
Coleman Benson 98.2 346 By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever an SD/SR command is processed.
RB1 23.1 347 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 1.1 348
RB1 24.1 349 |**Command sent**|**Returned value (1/10 °)**
Coleman Benson 32.1 350 |ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
Coleman Benson 98.2 351 |ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
Coleman Benson 32.1 352 |ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
353 |ex: #5QSD3<cr>|Target travel speed
RB1 23.1 354
Coleman Benson 1.1 355 Configure Speed in Degrees (**CSD**)
356
357 Ex: #5CSD1800<cr>
358
359 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.
360
Coleman Benson 98.2 361 ====== __13. Max Speed in RPM (**SR**)__ ======
Coleman Benson 1.1 362
363 Ex: #5SD45<cr>
364
Coleman Benson 98.2 365 This command sets the servo's maximum speed for motion commands in rpm for that session. In the example above, the servo's maximum speed for that session would be set to 45rpm. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SD overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.
Coleman Benson 1.1 366
367 Query Speed in Degrees (**QSR**)
368
369 Ex: #5QSR<cr> might return *5QSR45<cr>
370
Coleman Benson 98.2 371 By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever an SD/SR command is processed.
RB1 25.1 372 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 1.1 373
RB1 25.1 374 |**Command sent**|**Returned value (1/10 °)**
Coleman Benson 32.1 375 |ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
Coleman Benson 98.2 376 |ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
Coleman Benson 32.1 377 |ex: #5QSR2<cr>|Instantaneous speed (same as QWR)
378 |ex: #5QSR3<cr>|Target travel speed
Coleman Benson 1.1 379
RB1 25.1 380 Configure Speed in RPM (**CSR**)
381
Coleman Benson 1.1 382 Ex: #5CSR45<cr>
383
Coleman Benson 98.2 384 Using the CSR command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSR value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) received is what the servo uses for that session.
Coleman Benson 1.1 385
Coleman Benson 98.3 386 ====== __14. LED Color (**LED**)__ ======
Coleman Benson 15.1 387
Coleman Benson 1.1 388 Ex: #5LED3<cr>
389
390 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.
391
Coleman Benson 9.1 392 0=OFF 1=RED 2=GREEN 3= BLUE 4=YELLOW 5=CYAN 6= 7=MAGENTA, 8=WHITE 
Coleman Benson 1.1 393
394 Query LED Color (**QLED**)
395
396 Ex: #5QLED<cr> might return *5QLED5<cr>
397
398 This simple query returns the indicated servo's LED color.
399
400 Configure LED Color (**CLED**)
401
Coleman Benson 98.3 402 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 1.1 403
Coleman Benson 98.4 404 ====== __15. Gyre Rotation Direction (**G**)__ ======
Coleman Benson 1.1 405
Coleman Benson 98.4 406 "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).
407
408 Ex: #5G-1<cr>
409
410 This command will cause servo #5's positions to be inverted, effectively causing the servo to rotate in the opposite direction given the same command. For example in a 2WD robot, servos are often physically installed back to back, therefore setting one of the servos to a negative gyration, the same wheel command (ex WR30) to both servos will cause the robot to move forward or backward rather than rotate.
411
412 Query Gyre Direction (**QG**)
413
414 Ex: #5QG<cr> might return *5QG-1<cr>
415
416 The value returned above means the servo is in a counter-clockwise gyration.
417
418 Configure Gyre (**CG**)
419
420 Ex: #5CG-1<cr>
421
422 This changes the gyre direction as described above and also writes to EEPROM.
423
424 ====== __16. Identification Number (**ID** #)__ ======
425
Coleman Benson 98.3 426 A servo's identification number cannot be set "on the fly" and must be configured via the CID command described below. The factory default ID number for all servos is 0. Since smart servos are intended to be daisy chained, in order to respond differently from one another, the user must set different identification numbers. Servos with the same ID and baud rate will all receive and react to the same commands (assuming same baud rate).
Coleman Benson 1.1 427
428 Query Identification (**QID**)
429
Coleman Benson 38.1 430 EX: #254QID<cr> might return *QID5<cr>
Coleman Benson 1.1 431
Coleman Benson 98.3 432 When using the query ID command, it is best to only have one servo connected and thus receive only one reply. This is useful when you are not sure of the servo's ID, but don't want to change it. Using the broadcast command (ID 254) with only one servo will have that servo reply with its ID number (assuming the query is sent . Alternatively, pushing the button upon startup and temporarily setting the servo ID to 255 will still result in the servo responding with its "real" ID.
Coleman Benson 1.1 433
434 Configure ID (**CID**)
435
Coleman Benson 38.1 436 Ex: #4CID5<cr>
Coleman Benson 1.1 437
Coleman Benson 98.3 438 Setting a servo's ID in EEPROM is done via the CID command. All servos connected to the same serial bus will be assigned that ID. In most situations each servo must be set a unique ID, which means each servo must be connected individually to the serial bus and receive a unique CID number. It is best to do this before the servos are added to an assembly. Numbered stickers are provided to distinguish each servo after their ID is set, though you are free to use whatever alternative method you like. The servo must be RESET or power cycled in order for the new ID to take effect.
Coleman Benson 1.1 439
Coleman Benson 98.7 440 ====== __17. Baud Rate__ ======
Coleman Benson 1.1 441
Coleman Benson 98.3 442 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 a project should ideally be set to the same baud rate. Setting different baud rates will have the servos respond differently and may create issues. Available baud rates are: 9600 bps, 19200 bps, 38400 bps, 57600 bps, 115.2 kbps, 230.4 kbps, 250.0 kbps, 460.8 kbps, 500.0 kbps. Servos are shipped with a baud rate set to 9600. The baud rates are currently restricted to those above.
Coleman Benson 1.1 443
444 Query Baud Rate (**QB**)
445
446 Ex: #5QB<cr> might return *5QB9600<cr>
447
Coleman Benson 98.3 448 Since the command to query the baud rate must be done at the servo's existing baud rate, it can simply be used to confirm the CB configuration command was correctly received before the servo is power cycled and the new baud rate takes effect.
Coleman Benson 1.1 449
450 Configure Baud Rate (**CB**)
451
Coleman Benson 98.3 452 Important Note: the servo's current session retains the given baud rate and the new baud rate will only take effect when the servo is power cycled / RESET.
Coleman Benson 93.1 453
Coleman Benson 1.1 454 Ex: #5CB9600<cr>
455
456 Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
457
Coleman Benson 98.3 458 ====== __18. First Position (Pulse) (**FP**)__ ======
Coleman Benson 1.1 459
Coleman Benson 98.3 460 In certain cases, a user might want to have the servo move to a specific angle upon power up; we refer to this as "first position" (a.k.a. "initial position"). The factory default has no first position value stored in EEPROM and therefore upon power up, the servo remains limp until a position (or hold command) is assigned. FP and FD are different in that FP is used for RC mode only, whereas FD is used for smart mode only.
Coleman Benson 1.1 461
462 Query First Position in Pulses (**QFP**)
463
464 Ex: #5QFP<cr> might return *5QFP1550<cr>
465
Coleman Benson 36.1 466 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 1.1 467
Coleman Benson 36.1 468 Configure First Position in Pulses (**CFP**)
Coleman Benson 1.1 469
470 Ex: #5CP1550<cr>
471
Coleman Benson 98.4 472 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 (Ex. #5CFP<cr>) results in the servo remaining limp upon power up (i.e. disabled).
Coleman Benson 1.1 473
Coleman Benson 98.3 474 ====== __19. First / Initial Position (Degrees) (**FD**)__ ======
Coleman Benson 1.1 475
Coleman Benson 98.3 476 In certain cases, a user might want to have the servo move to a specific angle upon power up; we refer to this as "first position" (a.k.a. "initial position"). The factory default has no first position value stored in EEPROM and therefore upon power up, the servo remains limp until a position (or hold command) is assigned. FP and FD are different in that FP is used for RC mode only, whereas FD is used for smart mode only.
Coleman Benson 1.1 477
478 Query First Position in Degrees (**QFD**)
479
480 Ex: #5QFD<cr> might return *5QFD64<cr>
481
482 The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds.
483
484 Configure First Position in Degrees (**CFD**)
485
486 Ex: #5CD64<cr>
487
Coleman Benson 98.4 488 This configuration command means the servo, when set to smart mode, will immediately move to 6.4 degrees upon power up. Sending a CFD command without a number (Ex. #5CFD<cr>) results in the servo remaining limp upon power up.
Coleman Benson 1.1 489
Coleman Benson 98.7 490 ====== __20. Query Model String (**QMS**)__ ======
Coleman Benson 1.1 491
RB1 64.1 492 Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
Coleman Benson 1.1 493
RB1 64.1 494 This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
Coleman Benson 1.1 495
Coleman Benson 98.7 496 ====== __241. Query Serial Number (**QN**)__ ======
RB1 64.1 497
Coleman Benson 1.1 498 Ex: #5QN<cr> might return *5QN~_~_<cr>
499
500 The number in the response is the servo's serial number which is set and cannot be changed.
501
Coleman Benson 98.7 502 ====== __22. Query Firmware (**QF**)__ ======
Coleman Benson 1.1 503
504 Ex: #5QF<cr> might return *5QF11<cr>
505
506 The integer in the reply represents the firmware version with one decimal, in this example being 1.1
507
Coleman Benson 98.7 508 ====== __23. Query Status (**Q**)__ ======
Coleman Benson 1.1 509
RB1 34.1 510 Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
Coleman Benson 1.1 511
Coleman Benson 35.1 512 |*Value returned|**Status**|**Detailed description**
RB1 34.1 513 |ex: *5Q0<cr>|Unknown|LSS is unsure
514 |ex: *5Q1<cr>|Limp|Motor driving circuit is not powered and horn can be moved freely
515 |ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
516 |ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
517 |ex: *5Q4<cr>|Traveling|Moving at a stable speed
Coleman Benson 69.1 518 |ex: *5Q5<cr>|Decelerating|Decreasing from travel speed towards final position.
RB1 34.1 519 |ex: *5Q6<cr>|Holding|Keeping current position
520 |ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque
Coleman Benson 69.1 521 |ex: *5Q8<cr>|Outside limits|{More details coming soon}
RB1 34.1 522 |ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting
Coleman Benson 69.1 523 |ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
Coleman Benson 1.1 524
Coleman Benson 98.7 525 ====== __24. Query Voltage (**QV**)__ ======
Coleman Benson 1.1 526
Coleman Benson 59.1 527 Ex: #5QV<cr> might return *5QV11200<cr>
Coleman Benson 1.1 528
529 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).
530
Coleman Benson 98.7 531 ====== __25. Query Temperature (**QT**)__ ======
Coleman Benson 1.1 532
533 Ex: #5QT<cr> might return *5QT564<cr>
534
535 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.
536
Coleman Benson 98.7 537 ====== __26. Query Current (**QC**)__ ======
Coleman Benson 1.1 538
539 Ex: #5QC<cr> might return *5QC140<cr>
540
541 The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
542
Coleman Benson 98.7 543 ====== __27 / 28. RC Mode (**CRC**)__ ======
Coleman Benson 42.1 544
RB1 51.1 545 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 42.1 546
RB1 50.1 547 |**Command sent**|**Note**
548 |ex: #5CRC<cr>|Stay in smart mode.
549 |ex: #5CRC1<cr>|Change to RC position mode.
550 |ex: #5CRC2<cr>|Change to RC continuous (wheel) mode.
RB1 52.2 551 |ex: #5CRC*<cr>|Where * is any number or value. Stay in smart mode.
RB1 50.1 552
Coleman Benson 42.1 553 EX: #5CRC<cr>
554
Coleman Benson 98.7 555 ====== __29. **RESET**__ ======
Coleman Benson 1.1 556
557 Ex: #5RESET<cr> or #5RS<cr>
558
559 This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
560
Coleman Benson 98.7 561 ====== __30. **DEFAULT** & CONFIRM__ ======
Coleman Benson 1.1 562
563 Ex: #5DEFAULT<cr>
564
Coleman Benson 12.1 565 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 1.1 566
Coleman Benson 12.1 567 EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
Coleman Benson 1.1 568
Coleman Benson 12.1 569 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 1.1 570
Coleman Benson 13.1 571 Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
572
Coleman Benson 98.7 573 ====== __31. **UPDATE** & CONFIRM__ ======
Coleman Benson 1.1 574
Coleman Benson 12.1 575 Ex: #5UPDATE<cr>
Coleman Benson 1.1 576
Coleman Benson 12.1 577 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 1.1 578
Coleman Benson 12.1 579 EX: #5UPDATE<cr> followed by #5CONFIRM<cr>
Coleman Benson 1.1 580
Coleman Benson 12.1 581 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.
582
Coleman Benson 13.1 583 Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
Coleman Benson 98.2 584
585 ====== __A1. Angular Stiffness (**AS**)__ ======
586
587 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.
588
589 A positive value of "angular stiffness":
590
591 * The more torque will be applied to try to keep the desired position against external input / changes
592 * The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
593
594 A negative value on the other hand:
595
596 * Causes a slower acceleration to the travel speed, and a slower deceleration
597 * Allows the target position to deviate more from its position before additional torque is applied to bring it back
598
599 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.
600
601 Ex: #5AS-2<cr>
602
603 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.
604
605 Ex: #5QAS<cr>
606
607 Queries the value being used.
608
609 Ex: #5CAS<cr>
610
611 Writes the desired angular stiffness value to memory.
612
613 ====== __A2. Angular Holding Stiffness (**AH**)__ ======
614
615 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.
616
617 Ex: #5AH3<cr>
618
619 This sets the holding stiffness for servo #5 to 3 for that session.
620
621 Query Angular Hold Stiffness (**QAH**)
622
623 Ex: #5QAH<cr> might return *5QAH3<cr>
624
625 This returns the servo's angular holding stiffness value.
626
627 Configure Angular Hold Stiffness (**CAH**)
628
629 Ex: #5CAH2<cr>
630
631 This writes the angular holding stiffness of servo #5 to 2 to EEPROM
632
633 ====== __A3: Angular Acceleration (**AA**)__ ======
634
635 {More details to come}
636
637 ====== __A4: Angular Deceleration (**AD**)__ ======
638
639 {More details to come}
640
641 ====== __A5: Motion Control (**EM**)__ ======
642
643 {More details to come}
644
645 ====== __A6. Configure LED Blinking (**CLB**)__ ======
646
647 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).
648 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;
649
650 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:
651
652 Ex: #5CLB0<cr> to turn off all blinking (LED always solid)
653 Ex: #5CLB1<cr> only blink when limp
654 Ex: #5CLB2<cr> only blink when holding
655 Ex: #5CLB12<cr> only blink when accel or decel
656 Ex: #5CLB48<cr> only blink when free or travel
657 Ex: #5CLB63<cr> blink in all status
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