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1	1	{{warningBox warningText="More information coming soon"/}}
2	2
3	3
4		-
5	5	(% class="wikigeneratedid" id="HTableofContents" %)
6	6	**Page Contents**
7	7
...	...	@@ -30,88 +30,104 @@
30	30
31	31	== Modifiers ==
32	32
33		-Modifiers can only be used with certain **action commands**. The format to include a modifier is:
	32	+{{html clean="false" wiki="true"}}
	33	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	34	+Modifiers can only be used with certain **action commands**. The format to include a modifier is:<div class="wikimodel-emptyline"></div>
34	34
35		-1. Start with a number sign **#** (Unicode Character: U+0023)
	36	+1. Start with a number sign **#** (Unicode Character: U+0023)
36	36	1. Servo ID number as an integer
37	37	1. Action command (one to three letters, no spaces, capital or lowercase from a subset of action commands below)
38	38	1. Action value in the correct units with no decimal
39		-1. Modifier command (one or two letters from the list of modifiers below)
	40	+1. Modifier command (one or two letters from the list of modifiers below)
40	40	1. Modifier value in the correct units with no decimal
41		-1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
	42	+1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)
42	42
43		-Ex: #5D13000T1500<cr>This results in the servo with ID #5 rotating to a position (1800 in tenths of degrees) of 130.00 degrees in a time ("T") of 1500 milliseconds (1.5 seconds).
	44	+Ex: #5D13000T1500&lt;cr&gt;<div class="wikimodel-emptyline"></div>
44	44
45		-== Queries ==
	46	+This results in the servo with ID #5 rotating to a position (1800 in tenths of degrees) of 130.00 degrees in a time ("T") of 1500 milliseconds (1.5 seconds).<div class="wikimodel-emptyline"></div>
	47	+<div class="wikimodel-emptyline"></div></div></div>
46	46
47		-Query commands request information from the servo. Query commands are also similar to action and configuration commands and must use the following format:
	49	+<h2>Queries</h2>
	50	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	51	+Query commands request information from the servo. Query commands are also similar to action and configuration commands and must use the following format:<div class="wikimodel-emptyline"></div>
48	48
49		-1. Start with a number sign **#** (Unicode Character: U+0023)
	53	+1. Start with a number sign **#** (Unicode Character: U+0023)
50	50	1. Servo ID number as an integer
51	51	1. Query command (one to four letters, no spaces, capital or lower case)
52		-1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
	56	+1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)<div class="wikimodel-emptyline"></div>
53	53
54		-Ex: #5QD<cr> Query the position in (hundredths of) degrees for servo with ID #5The query will return a serial string (almost instantaneously) via the servo's Tx in the following format:
	58	+Ex: #5QD&lt;cr&gt; Query the position in (hundredths of) degrees for servo with ID #5<div class="wikimodel-emptyline"></div>
55	55
	60	+The query will return a serial string (almost instantaneously) via the servo's Tx in the following format:
	61	+
56	56	1. Start with an asterisk * (Unicode Character: U+0023)
57	57	1. Servo ID number as an integer
58	58	1. Query command (one to four letters, no spaces, capital letters)
59	59	1. The reported value in the units described, no decimals.
60		-1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
	66	+1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)<div class="wikimodel-emptyline"></div>
61	61
62		-There is currently no option to control how fast a servo replies after it has received a query command, therefore when sending a query command to the bus, the controller should be prepared to immediately "listen" for and parse the reply. Sending multiple queries to multiple servos on a bus in fast succession may result in replies overlapping and giving incorrect or corrupt data. As such, the controller should receive a reply before sending a new query command. A reply to the query sent above might be:
	68	+There is currently no option to control how fast a servo replies after it has received a query command, therefore when sending a query command to the bus, the controller should be prepared to immediately "listen" for and parse the reply. Sending multiple queries to multiple servos on a bus in fast succession may result in replies overlapping and giving incorrect or corrupt data. As such, the controller should receive a reply before sending a new query command. A reply to the query sent above might be:<div class="wikimodel-emptyline"></div>
63	63
64		-Ex: *5QD13000<cr>
	70	+Ex: *5QD13000&lt;cr&gt;<div class="wikimodel-emptyline"></div>
65	65
66	66	This indicates that servo #5 is currently at 130.00 degrees (13000 tenths of degrees).
	73	+<div class="wikimodel-emptyline"></div></div></div>
67	67
68		-== Configurations ==
	75	+<h2>Configurations</h2>
69	69
70		-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. Configuration commands are not cumulative; this means that if two of the same configuration commands are sent, one after the next, only the last configuration is used and stored.
	77	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	78	+Configuration commands and corresponding values affect a servo's defaults which are written to and read from the servo's EEPROM.<div class="wikimodel-emptyline"></div>
71	71
72		-The format to send a configuration command is identical to that of an action command:
	80	+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. Configuration commands are not cumulative; this means that if two of the same configuration commands are sent, one after the next, only the last configuration is used and stored.<div class="wikimodel-emptyline"></div>
73	73
74		-1. Start with a number sign **#** (Unicode Character: U+0023)
	82	+The format to send a configuration command is identical to that of an action command:<div class="wikimodel-emptyline"></div>
	83	+
	84	+1. Start with a number sign **#** (Unicode Character: U+0023)
75	75	1. Servo ID number as an integer
76	76	1. Configuration command (two to four letters, no spaces, capital or lower case)
77	77	1. Configuration value in the correct units with no decimal
78		-1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
	88	+1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)<div class="wikimodel-emptyline"></div>
79	79
80		-Ex: #5CO-500<cr>
	90	+Ex: #5CO-500&lt;cr&gt;<div class="wikimodel-emptyline"></div>
81	81
82		-This configures an absolute origin offset ("CO") with respect to factory origin of servo with ID #5 and changes the offset for that session to -5.00 degrees (500 hundredths of degrees). Once the servo is powered off and on, zeroing the servo will cause it to move to -5.00 degrees with respect to the factory origin and report its position as 0 degrees. Configuration commands can be undone / reset either by sending the servo's default value for that configuration, or by doing a factory reset that clears all configurations (through the button menu or with DEFAULT command described below).
	92	+This configures an absolute origin offset ("CO") with respect to factory origin of servo with ID #5 and changes the offset for that session to -5.00 degrees (500 hundredths of degrees). Once the servo is powered off and on, zeroing the servo will cause it to move to -5.00 degrees with respect to the factory origin and report its position as 0 degrees. Configuration commands can be undone / reset either by sending the servo's default value for that configuration, or by doing a factory reset that clears all configurations (through the button menu or with DEFAULT command described below).<div class="wikimodel-emptyline"></div>
83	83
84		-**Session vs Configuration Query**
	94	+**Session vs Configuration Query**<div class="wikimodel-emptyline"></div>
85	85
86		-By default, the query command returns the session's value. Should no action commands have been sent to change the session value, it will return the value saved in EEPROM which will either be the servo's default, or modified with a configuration command. In order to query the value stored in EEPROM (configuration), add a '1' to the query command:
	96	+By default, the query command returns the session's value. Should no action commands have been sent to change the session value, it will return the value saved in EEPROM which will either be the servo's default, or modified with a configuration command. In order to query the value stored in EEPROM (configuration), add a '1' to the query command:<div class="wikimodel-emptyline"></div>
87	87
88		-Ex: #5CSR10<cr> immediately sets the maximum speed for servo #5 to 10rpm (explained below) and changes the value in memory.
	98	+Ex: #5CSR20&lt;cr&gt; immediately sets the maximum speed for servo #5 to 20rpm (explained below) and changes the value in memory.<div class="wikimodel-emptyline"></div>
89	89
90		-After RESET, a command of #5SR4<cr> sets the session's speed to 4rpm, but does not change the configuration value in memory. Therefore:
	100	+After RESET, a command of #5SR4&lt;cr&gt; sets the session's speed to 4rpm, but does not change the configuration value in memory. Therefore:<div class="wikimodel-emptyline"></div>
91	91
92		-#5QSR<cr> or #5QSR0<cr> would return *5QSR4<cr> which represents the value for that session, whereas
	102	+#5QSR&lt;cr&gt; or #5QSR0&lt;cr&gt; would return *5QSR4&lt;cr&gt; which represents the value for that session, whereas<div class="wikimodel-emptyline"></div>
93	93
94		-#5QSR1<cr> would return *5QSR10<cr> which represents the value in EEPROM
	104	+#5QSR1&lt;cr&gt; would return *5QSR20&lt;cr&gt; which represents the value in EEPROM
	105	+<div class="wikimodel-emptyline"></div></div></div>
95	95
96		-The ability to store a "virtual angular position" is a feature which allows for rotation beyond 360 degrees, permitting multiple rotations of the output horn, moving the center position and more. The "absolute position" would be the angle of the output shaft with respect to a 360.00 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 153350 (or 1533.50 degrees), taking the modulus would give 93.5 degrees (36000 * 4 + 9350 = 153350) as the absolute position (assuming no origin offset).
	107	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	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. The "absolute position" would be the angle of the output shaft with respect to a 360.0 degree circle and can be obtained by taking the modulus (with respect to 360 degrees) of the value. For example if the virtual position is reported as 15335 (or 1533.5 degrees), taking the modulus would give 93.5 degrees (3600 * 4 + 935 = 15335) as the absolute position (assuming no origin offset).<div class="wikimodel-emptyline"></div>
97	97
98		-[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-positions.jpg||alt="LSS-servo-positions.jpg"]]
	110	+[[image:LSS-servo-positions.jpg]]<div class="wikimodel-emptyline"></div>
99	99
100		-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:
	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:<div class="wikimodel-emptyline"></div>
101	101
102		-#1D-3000<cr> This causes the servo to move to -30.00 degrees (green arrow)
	114	+#1D-300&lt;cr&gt; This causes the servo to move to -30.0 degrees (green arrow)<div class="wikimodel-emptyline"></div>
103	103
104		-#1D21000<cr> This second position command is sent to the servo, which moves it to 210.00 degrees (orange arrow)
	116	+#1D2100&lt;cr&gt; This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)<div class="wikimodel-emptyline"></div>
105	105
106		-#1D-42000<cr> This next command rotates the servo counterclockwise to a position of -420.00 degrees (red arrow), which means one full rotation of 360 degrees plus 60.00 degrees (420.00 - 360.00), with a virtual position of -420.0 degrees.
	118	+#1D-4200&lt;cr&gt; This next command rotates the servo counterclockwise to a position of -420 degrees (red arrow), which means one full rotation of 360 degrees plus 60.0 degrees (420.0 - 360.0), with a virtual position of -420.0 degrees.<div class="wikimodel-emptyline"></div>
107	107
108		-Although the final physical position would be the same as if the servo were commanded to move to -60.00 degrees, the servo is in fact at -420.00 degrees.
	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.<div class="wikimodel-emptyline"></div>
109	109
110		-#1D48000<cr> This new command is sent which would then cause the servo to rotate from -420.00 degrees to 480.00 degrees (blue arrow), which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations.
	122	+#1D4800&lt;cr&gt; This new command is sent which would then cause the servo to rotate from -420.0 degrees to 480.0 degrees (blue arrow), which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations.<div class="wikimodel-emptyline"></div>
111	111
112		-#1D33000<cr> would cause the servo to rotate from 480.0 degrees to 330.00 degrees (yellow arrow).
	124	+#1D3300&lt;cr&gt; would cause the servo to rotate from 480.0 degrees to 330.0 degrees (yellow arrow).<div class="wikimodel-emptyline"></div>
113	113
114		-If the servo loses power or is power cycled, it also loses the virtual position associated with that session. For example, if the virtual position was 480.00 degrees before power is cycled, upon power up the servo's position will be read as +120.00 degrees from zero (assuming center position has not been modified). The virtual position range at power-up is [-180.00°, 180.00°].
	126	+If the servo loses power or is power cycled, it also loses the virtual position associated with that session. For example, if the virtual position was 480.0 degrees before power is cycled, upon power up the servo's position will be read as +120.0 degrees from zero (assuming center position has not been modified). The virtual position range at power-up is [-180.0°, 180.0°].
	127	+<div class="wikimodel-emptyline"></div></div></div>
	128	+
	129	+{{/html}}
115	115	)))
116	116
117	117	= Command List =
...	...	@@ -190,72 +190,249 @@
190	190
191	191	== (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) ==
192	192
	208	+====== __Reset__ ======
	209	+
	210	+{{html wiki="true" clean="false"}}
	211	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	212	+Ex: #5RESET&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	213	+This command does a "soft reset" and reverts all commands to those stored in EEPROM (i.e. configuration commands).
	214	+Note: after a RESET command is received, the LSS will restart and perform initilization again, making it unavailable on the bus for a bit. See [[Session>>||anchor="HSession"]], note #2 for more details.<div class="wikimodel-emptyline"></div>
	215	+</div></div>
	216	+{{/html}}
	217	+
	218	+====== __Default & confirm__ ======
	219	+
	220	+{{html wiki="true" clean="false"}}
	221	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	222	+Ex: #5DEFAULT&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	223	+
	224	+This command sets in motion the reset of all values to the default values included with the version of the firmware installed on that servo. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the DEFAULT function.<div class="wikimodel-emptyline"></div>
	225	+
	226	+EX: #5DEFAULT&lt;cr&gt; followed by #5CONFIRM&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	227	+
	228	+Since it it not common to have to restore all configurations, a confirmation command is needed after a firmware command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will exit the command.<div class="wikimodel-emptyline"></div>
	229	+
	230	+**Note:** After the CONFIRM command is sent, the servo will automatically perform a RESET.<div class="wikimodel-emptyline"></div>
	231	+</div></div>
	232	+{{/html}}
	233	+
	234	+====== __Update & confirm__ ======
	235	+
	236	+{{html wiki="true" clean="false"}}
	237	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	238	+Ex: #5UPDATE&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	239	+
	240	+This command sets in motion the equivalent of a long button press when the servo is not powered in order to enter firmware update mode. This is useful should the button be broken or inaccessible. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the UPDATE function.<div class="wikimodel-emptyline"></div>
	241	+
	242	+EX: #5UPDATE&lt;cr&gt; followed by #5CONFIRM&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	243	+
	244	+Since it it not common to have to update firmware, a confirmation command is needed after an UPDATE command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will leave the firmware action.<div class="wikimodel-emptyline"></div>
	245	+
	246	+**Note:** After the CONFIRM command is sent, the servo will automatically perform a RESET.<div class="wikimodel-emptyline"></div>
	247	+</div></div>
	248	+{{/html}}
	249	+
	250	+====== __Confirm__ ======
	251	+
	252	+{{html wiki="true" clean="false"}}
	253	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	254	+Ex: #5CONFIRM&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	255	+
	256	+This command is used to confirm changes after a Default or Update command.<div class="wikimodel-emptyline"></div>
	257	+
	258	+**Note:** After the CONFIRM command is sent, the servo will automatically perform a RESET.<div class="wikimodel-emptyline"></div>
	259	+</div></div>
	260	+{{/html}}
	261	+
	262	+====== ======
	263	+
	264	+====== __Identification Number (**ID**)__ ======
	265	+
	266	+{{html wiki="true" clean="false"}}
	267	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	268	+A servo's identification number cannot be set "on the fly" and must be configured via the CID command described below. The factory default ID number for all servos is 0. Since smart servos are intended to be daisy chained, in order to respond differently from one another, the user must set different identification numbers. Servos with the same ID and baud rate will all receive and react to the same commands.<div class="wikimodel-emptyline"></div>
	269	+
	270	+Query Identification (**QID**)<div class="wikimodel-emptyline"></div>
	271	+
	272	+EX: #254QID&lt;cr&gt; might return *QID5&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	273	+
	274	+When using the broadcast query ID command, it is best to only have one servo connected and thus receive only one reply. This is useful when you are not sure of the servo's ID, but don't want to change it. Using the broadcast command (ID 254) with only one servo will have that servo reply with its ID number. Alternatively, pushing the button upon startup and temporarily setting the servo ID to 255 will still result in the servo responding with its "real" ID.<div class="wikimodel-emptyline"></div>
	275	+
	276	+Configure ID (**CID**)<div class="wikimodel-emptyline"></div>
	277	+
	278	+Ex: #4CID5&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	279	+
	280	+Setting a servo's ID in EEPROM is done via the CID command. All servos connected to the same serial bus that have will be assigned that ID. In most situations each servo must be set a unique ID, which means each servo must be connected individually to the serial bus and receive a unique CID number. It is best to do this before the servos are added to an assembly. Numbered stickers are provided to distinguish each servo after their ID is set, though you are free to use whatever alternative method you like. The servo must be RESET or power cycled in order for the new ID to take effect.<div class="wikimodel-emptyline"></div>
	281	+</div></div>
	282	+{{/html}}
	283	+
	284	+====== __Baud Rate__ ======
	285	+
	286	+{{html clean="false" wiki="true"}}
	287	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	288	+A servo's baud rate cannot be set "on the fly" and must be configured via the CB command described below. The factory default baud rate for all servos is 115200. Since smart servos are intended to be daisy chained, in order to respond to the same serial command, all servos in a project should be set to the same baud rate. Setting different baud rates will have the servos respond differently and may create issues. Available baud rates are: 9600 bps, 19200 bps, 38400 bps, 57600 bps, 115.2 kbps, 230.4 kbps, 250.0 kbps, 460.8 kbps, 500.0 kbps, 750.0 kbps, 921.6 kbps. Servos are shipped with a baud rate set to 115200.<div class="wikimodel-emptyline"></div>
	289	+
	290	+Query Baud Rate (**QB**)<div class="wikimodel-emptyline"></div>
	291	+
	292	+Ex: #5QB&lt;cr&gt; might return *5QB115200&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	293	+
	294	+Since the command to query the baud rate must be done at the servo's existing baud rate, it can simply be used to confirm the CB configuration command was correctly received before the servo is power cycled and the new baud rate takes effect.<div class="wikimodel-emptyline"></div>
	295	+
	296	+Configure Baud Rate (**CB**)<div class="wikimodel-emptyline"></div>
	297	+
	298	+**Important Note:** the servo's current session retains the given baud rate and the new baud rate will only take effect when the servo is power cycled / RESET.<div class="wikimodel-emptyline"></div>
	299	+
	300	+Ex: #5CB9600&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	301	+
	302	+Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.<div class="wikimodel-emptyline"></div>
	303	+</div></div>
	304	+{{/html}}
	305	+
	306	+====== __Automatic Baud Rate__ ======
	307	+
	308	+{{html clean="false" wiki="true"}}
	309	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	310	+This option allows the LSS to listen to it's serial input and select the right baudrate automatically.<div class="wikimodel-emptyline"></div>
	311	+
	312	+Query Automatic Baud Rate (**QABR**)<div class="wikimodel-emptyline"></div>
	313	+
	314	+Ex: #5QABR&lt;cr&gt; might return *5ABR0&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	315	+
	316	+Enable Baud Rate (**ABR**)<div class="wikimodel-emptyline"></div>
	317	+
	318	+Ex: #5QABR1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	319	+Enable baudrate detection on first byte received after power-up.<div class="wikimodel-emptyline"></div>
	320	+
	321	+Ex: #5QABR2,30&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	322	+Enable baudrate detection on first byte received after power-up. If no data for 30 seconds enable detection again on next byte.<div class="wikimodel-emptyline"></div>
	323	+
	324	+Warning: ABR doesnt work well with LSS Config at the moment.<div class="wikimodel-emptyline"></div>
	325	+</div></div>
	326	+{{/html}}
	327	+
193	193	== Motion ==
194	194
195	195	====== __Position in Degrees (**D**)__ ======
196	196
197		-Example: #5D1456<cr>
	332	+{{html wiki="true" clean="false"}}
	333	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	334	+Example: #5D1456&lt;cr&gt;<div class="wikimodel-emptyline"></div>
198	198
199		-This moves the servo to an angle of 145.6 degrees, where the center (0) position is centered. Negative values (ex. -176 representing -17.6 degrees) could also be used. A full circle would be from -1800 to 1800 degrees. A value of 2700 would be the same angle (absolute position) as -900, except the servo would move in a different direction.
	336	+This moves the servo to an angle of 145.6 degrees, where the center (0) position is centered. Negative values (ex. -176 representing -17.6 degrees) could also be used. A full circle would be from -1800 to 1800 degrees. A value of 2700 would be the same angle (absolute position) as -900, except the servo would move in a different direction. <div class="wikimodel-emptyline"></div>
200	200
201		-Larger values are permitted and allow for multi-turn functionality using the concept of virtual position (explained above).
	338	+Larger values are permitted and allow for multi-turn functionality using the concept of virtual position (explained above). <div class="wikimodel-emptyline"></div>
202	202
203		-Query Position in Degrees (**QD**)
	340	+Query Position in Degrees (**QD**)<div class="wikimodel-emptyline"></div>
204	204
205		-Example: #5QD<cr> might return *5QD132<cr>
	342	+Example: #5QD&lt;cr&gt; might return *5QD132&lt;cr&gt;<div class="wikimodel-emptyline"></div>
206	206
207		-This means the servo is located at 13.2 degrees.
	344	+This means the servo is located at 13.2 degrees.<div class="wikimodel-emptyline"></div>
208	208
209		-Query Target Position in Degrees (**QDT**)
	346	+(% class="wikigeneratedid" id="H22.QueryTargetPositioninDegrees28QDT29" %)
	347	+Query Target Position in Degrees (**QDT**)<div class="wikimodel-emptyline"></div>
210	210
211		-Ex: #5QDT<cr> might return *5QDT6783<cr>
	349	+Ex: #5QDT&lt;cr&gt; might return *5QDT6783&lt;cr&gt;<div class="wikimodel-emptyline"></div>
212	212
213	213	The query target position command returns the target virtual position during and after an action which results in a rotation of the servo horn. In the example above, the servo is rotating to a virtual position of 678.3 degrees. Should the servo not have a target position or be in wheel mode, it will respond with the last target position used.
	352	+<div class="wikimodel-emptyline"></div></div></div>
	353	+{{/html}}
214	214
215	215	====== __(Relative) Move in Degrees (**MD**)__ ======
216	216
	357	+{{html wiki="true" clean="false"}}
	358	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	359	+Example: #5MD123&lt;cr&gt;<div class="wikimodel-emptyline"></div>
217	217
218		-Example: #5MD123<cr>
219		-
220	220	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.
	362	+<div class="wikimodel-emptyline"></div></div></div>
	363	+{{/html}}
221	221
222	222	====== __Wheel Mode in Degrees (**WD**)__ ======
223	223
224		-Ex: #5WD90<cr>
	367	+{{html wiki="true" clean="false"}}
	368	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	369	+Ex: #5WD90&lt;cr&gt;<div class="wikimodel-emptyline"></div>
225	225
226		-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).
	371	+This command sets the servo to wheel mode where it will rotate in the desired direction at the selected speed. The example above would have the servo rotate at 90.0 degrees per second clockwise (assuming factory default configurations).<div class="wikimodel-emptyline"></div>
227	227
228		-Query Wheel Mode in Degrees (**QWD**)
	373	+Query Wheel Mode in Degrees (**QWD**)<div class="wikimodel-emptyline"></div>
229	229
230		-Ex: #5QWD<cr> might return *5QWD90<cr>
	375	+Ex: #5QWD&lt;cr&gt; might return *5QWD90&lt;cr&gt;<div class="wikimodel-emptyline"></div>
231	231
232	232	The servo replies with the angular speed in degrees per second. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
	378	+<div class="wikimodel-emptyline"></div></div></div>
	379	+{{/html}}
233	233
234	234	====== __Wheel Mode in RPM (**WR**)__ ======
235	235
236		-Ex: #5WR40<cr>
	383	+{{html wiki="true" clean="false"}}
	384	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	385	+Ex: #5WR40&lt;cr&gt;<div class="wikimodel-emptyline"></div>
237	237
238		-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).
	387	+This command sets the servo to wheel mode where it will rotate in the desired direction at the selected rpm. Wheel mode (a.k.a. "continuous rotation") has the servo operate like a geared DC motor. The servo's maximum rpm cannot be set higher than its physical limit at a given voltage. The example above would have the servo rotate at 40 rpm clockwise (assuming factory default configurations).<div class="wikimodel-emptyline"></div>
239	239
240		-Query Wheel Mode in RPM (**QWR**)
	389	+Query Wheel Mode in RPM (**QWR**)<div class="wikimodel-emptyline"></div>
241	241
242		-Ex: #5QWR<cr> might return *5QWR40<cr>
	391	+Ex: #5QWR&lt;cr&gt; might return *5QWR40&lt;cr&gt;<div class="wikimodel-emptyline"></div>
243	243
244	244	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).
	394	+<div class="wikimodel-emptyline"></div></div></div>
	395	+{{/html}}
245	245
246		-====== __(Relative) Move in Degrees (**MD**)__ ======
	397	+====== __Position in PWM (**P**)__ ======
247	247
248		-(% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
249		-Example: #5M1500<cr>
	399	+{{html wiki="true" clean="false"}}
	400	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	401	+Example: #5P2334&lt;cr&gt;<div class="wikimodel-emptyline"></div>
250	250
251		-(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
	403	+The position in PWM pulses was retained in order to be backward compatible with the SSC-32 / 32U protocol. This relates the desired angle with an RC standard PWM signal and is further explained in the SSC-32 and [[SSC-32U manuals>>https://www.robotshop.com/media/files/pdf2/lynxmotion_ssc-32u_usb_user_guide.pdf#page=24]]. Without any modifications to configuration considered, and a ±90.0 degrees standard range where 1500 microseconds is centered, a PWM signal of 2334 would set the servo to 165.1 degrees. Valid values for P are [500, 2500]. Values outside this range are corrected / restricted to end points.<div class="wikimodel-emptyline"></div>
	404	+
	405	+Query Position in Pulse (**QP**)<div class="wikimodel-emptyline"></div>
	406	+
	407	+Example: #5QP&lt;cr&gt; might return *5QP2334<div class="wikimodel-emptyline"></div>
	408	+
	409	+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.
	410	+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).
	411	+<div class="wikimodel-emptyline"></div></div></div>
	412	+{{/html}}
	413	+
	414	+====== __(Relative) Move in PWM (**M**)__ ======
	415	+
	416	+{{html wiki="true" clean="false"}}
	417	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	418	+Example: #5M1500&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	419	+
252	252	The relative move in PWM command causes the servo to read its current position and move by the specified number of PWM signal. For example if the servo is set to rotate CW (default) and an M command of 1500 is sent to the servo, it will cause the servo to rotate clockwise by 90 degrees. Negative PWM value would cause the servo to rotate in the opposite configured direction.
	421	+<div class="wikimodel-emptyline"></div></div></div>
	422	+{{/html}}
253	253
	424	+====== __Raw Duty-cycle Move (**RDM**)__ ======
	425	+
	426	+{{html wiki="true" clean="false"}}
	427	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	428	+Example: #5RDM512&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	429	+
	430	+The raw duty-cycle move command (or free move command) will rotate the servo at a specified duty cycle value in wheel mode (a.k.a. "continuous rotation") like a geared DC motor.<div class="wikimodel-emptyline"></div>
	431	+
	432	+The duty values range from 0 to 1023. Negative values will rotate the servo in the opposite direction (for factory default a negative value would be counter clockwise).<div class="wikimodel-emptyline"></div>
	433	+
	434	+Query Move in Duty-cycle (**QMD**)<div class="wikimodel-emptyline"></div>
	435	+
	436	+Example: #5QMD&lt;cr&gt; might return *5QMD512<div class="wikimodel-emptyline"></div>
	437	+
	438	+This command queries the raw duty-cycle move value. 512 value means that the motor is rotating at 50% duty-cycle.
	439	+<div class="wikimodel-emptyline"></div></div></div>
	440	+{{/html}}
	441	+
254	254	====== __Query Status (**Q**)__ ======
255	255
256		-The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
	444	+{{html wiki="true" clean="false"}}
	445	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	446	+The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.<div class="wikimodel-emptyline"></div>
257	257
258		-Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
	448	+Ex: #5Q&lt;cr&gt; might return *5Q6&lt;cr&gt;, which indicates the motor is holding a position.<div class="wikimodel-emptyline"></div>
	449	+</div></div>
	450	+{{/html}}
259	259
260	260	|(% style="width:25px" %) |***Value returned (Q)**|**Status**|**Detailed description**
261	261	| |ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
...	...	@@ -274,7 +274,11 @@
274	274	Send a Q1 command to know which limit has been reached (described below).
275	275	)))
276	276
277		-If a safety limit has been reached and exceeded, the LED will flash red and the servo will stop providing torque (no longer react to commands which cause the motor to rotate). In order to determine which limit has been reached, send a Q1 command. The servo must be RESET in order to return to normal operation, though if a limit is still detected (for example the servo is still too hot), it will revert back to Safe Mode.
	469	+{{html wiki="true" clean="false"}}
	470	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	471	+If a safety limit has been reached and exceeded, the LED will flash red and the servo will stop providing torque (no longer react to commands which cause the motor to rotate). In order to determine which limit has been reached, send a Q1 command. The servo must be RESET in order to return to normal operation, though if a limit is still detected (for example the servo is still too hot), it will revert back to Safe Mode.<div class="wikimodel-emptyline"></div>
	472	+</div></div>
	473	+{{/html}}
278	278
279	279	|(% style="width:25px" %) |***Value returned (Q1)**|**Status**|**Detailed description**
280	280	| |ex: *5Q0<cr>|No limits have been passed|Nothing is wrong
...	...	@@ -284,217 +284,505 @@
284	284
285	285	====== __Limp (**L**)__ ======
286	286
287		-Example: #5L<cr>
	483	+{{html wiki="true" clean="false"}}
	484	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	485	+Example: #5L&lt;cr&gt;<div class="wikimodel-emptyline"></div>
288	288
289		-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>.
	487	+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&lt;cr&gt;.
	488	+<div class="wikimodel-emptyline"></div></div></div>
	489	+{{/html}}
290	290
291	291	====== __Halt & Hold (**H**)__ ======
292	292
293		-Example: #5H<cr>
	493	+{{html wiki="true" clean="false"}}
	494	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	495	+Example: #5H&lt;cr&gt;<div class="wikimodel-emptyline"></div>
294	294
295	295	This command causes the servo to stop immediately and hold that angular position. It overrides whatever the servo might be doing at the time the command is received (accelerating, travelling, deccelerating, etc.)
	498	+<div class="wikimodel-emptyline"></div></div></div>
	499	+{{/html}}
296	296
297	297	== Motion Setup ==
298	298
299		-====== __Origin Offset (**O**)__ ======
	503	+====== __Enable Motion Profile (**EM**)__ ======
300	300
301		-Example: #5O2400<cr>This command allows you to change the origin of the servo in relation to the factory zero position for that session. As with all action commands, the setting will be lost upon servo reset / power cycle. Origin offset commands are not cumulative and always relate to factory zero. In the first image, the origin at factory offset '0' (centered).
	505	+{{html clean="false" wiki="true"}}
	506	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	507	+EM1 (Enable Motion Profile #1) is the default mode of the LSS and is an easy way to control the servo's position with a single (serial) position command. This mode uses a trapezoidal motion profile which takes care of acceleration, constant speed travel and deceleration. Once the actual position is within a certain value of the target, it switches to a holding algorithm. The LSS commands for Angular Acceleration and Deceleration (AA/CAA/AD/CAD) Angular Stiffness (AS/CAS) and Angular holding stiffness (AH/CAH) affect this motion profile. Modifiers like SD/S and T can be used in EM1.<div class="wikimodel-emptyline"></div>
302	302
303		-[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]
	509	+Ex: #5EM1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
304	304
	511	+This command enables a trapezoidal motion profile for servo #5 <div class="wikimodel-emptyline"></div>
305	305
306		-In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
	513	+Ex: #5EM0&lt;cr&gt;<div class="wikimodel-emptyline"></div>
307	307
308		-[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-origin.jpg||alt="LSS-servo-origin.jpg"]]
	515	+This command will disable the built-in trapezoidal motion profile. As such, the servo will move at full speed to the target position using the D/MD action commands. Modifiers like SD/S or T cannot be used in EM0 mode. By default the Filter Position Counter, or "FPC" is active in EM0 mode to smooth out its operation. EM0 is suggested for applications where an external controller will be determining all incremental intermediate positions of the servo's motion, effectively replacing a trajectory manager. To prevent having to send position commands continuously to reach the desired position in EM0/FPC active (FPC >= 2), an internal position engine (IPE) repeats the last position command. Note that in EM0 mode, the servo will effectively always be in status: Holding (if using the query status command).
309	309
	517	+<div class="wikimodel-emptyline"></div>
310	310
311		-Origin Offset Query (**QO**)
	519	+Query Motion Profile (**QEM**)<div class="wikimodel-emptyline"></div>
312	312
313		-Example: #5QO<cr> might return *5QO-13
	521	+Ex: #5QEM&lt;cr&gt; might return *5QEM1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
314	314
315		-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.
	523	+This command will query the motion profile. **0:** motion profile disabled / **1:** trapezoidal motion profile enabled.<div class="wikimodel-emptyline"></div>
316	316
317		-Configure Origin Offset (**CO**)
	525	+Configure Motion Profile (**CEM**)<div class="wikimodel-emptyline"></div>
318	318
319		-Example: #5CO-24<cr>
	527	+Ex: #5CEM0&lt;cr&gt;<div class="wikimodel-emptyline"></div>
320	320
	529	+This command configures the motion profile and saves it in the EEPROM. The setting will be saved upon servo reset / power cycle.
	530	+<div class="wikimodel-emptyline"></div></div></div>
	531	+{{/html}}
	532	+
	533	+====== __Filter Position Count (**FPC**)__ ======
	534	+
	535	+{{html clean="false" wiki="true"}}
	536	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	537	+The FPC value relates to the depth of a first order filter (exponential weighted average) over the position change. This has the effect of slowing down both acceleration and deceleration while still allowing the LSS to try to reach the desired position at maximum power at all times. A smaller FPC value will reduce the smoothing effect and a larger value will increase it. To prevent having to send position commands continuously to reach the desired position in EM0/FPC active (FPC >= 2), an internal position engine (IPE) has been put in place, which is also active by default.
	538	+<div class="wikimodel-emptyline"></div>
	539	+Ex: #5FPC10&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	540	+This command allows the user to change the Filter Position Count value for that session. <div class="wikimodel-emptyline"></div>
	541	+
	542	+Query Filter Position Count (**QFPC**)<div class="wikimodel-emptyline"></div>
	543	+
	544	+Ex: #5QFPC&lt;cr&gt; might return *5QFPC10&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	545	+
	546	+This command will query the Filter Position Count value.<div class="wikimodel-emptyline"></div>
	547	+
	548	+Configure Filter Position Count (**CFPC**)<div class="wikimodel-emptyline"></div>
	549	+
	550	+Ex: #5CFPC10&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	551	+
	552	+This command configures the Filter Position Count value and saves it in the EEPROM. The setting will be saved upon servo reset / power cycle.
	553	+<div class="wikimodel-emptyline"></div></div></div>
	554	+{{/html}}
	555	+
	556	+====== __Origin Offset (**O**)__ ======
	557	+
	558	+{{html wiki="true" clean="false"}}
	559	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	560	+Example: #5O2400&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	561	+
	562	+This command allows you to change the origin of the servo in relation to the factory zero position for that session. As with all action commands, the setting will be lost upon servo reset / power cycle. Origin offset commands are not cumulative and always relate to factory zero. In the first image, the origin at factory offset '0' (centered).<div class="wikimodel-emptyline"></div>
	563	+
	564	+[[image:LSS-servo-default.jpg]]<div class="wikimodel-emptyline"></div>
	565	+
	566	+In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:<div class="wikimodel-emptyline"></div>
	567	+
	568	+[[image:LSS-servo-origin.jpg]]<div class="wikimodel-emptyline"></div>
	569	+
	570	+Origin Offset Query (**QO**)<div class="wikimodel-emptyline"></div>
	571	+
	572	+Example: #5QO&lt;cr&gt; might return *5QO-13<div class="wikimodel-emptyline"></div>
	573	+
	574	+This allows you to query the angle (in tenths of degrees) of the origin in relation to the factory zero position. In this example, the new origin is at -1.3 degrees from the factory zero.<div class="wikimodel-emptyline"></div>
	575	+
	576	+Configure Origin Offset (**CO**)<div class="wikimodel-emptyline"></div>
	577	+
	578	+Example: #5CO-24&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	579	+
321	321	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.
	581	+<div class="wikimodel-emptyline"></div></div></div>
	582	+{{/html}}
322	322
323	323	====== __Angular Range (**AR**)__ ======
324	324
325		-Example: #5AR1800<cr>
	586	+{{html wiki="true" clean="false"}}
	587	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	588	+Example: #5AR1800&lt;cr&gt;<div class="wikimodel-emptyline"></div>
326	326
327		-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:
	590	+This command allows you to temporarily change the total angular range of the servo in tenths of degrees. This applies to the Position in Pulse (P) command and RC mode. The default for (P) and RC mode is 1800 (180.0 degrees total, or ±90.0 degrees). The image below shows a standard -180.0 to +180.0 range, with no offset:<div class="wikimodel-emptyline"></div>
328	328
329		-[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]
	592	+[[image:LSS-servo-default.jpg]]<div class="wikimodel-emptyline"></div>
330	330
331		-Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
	594	+Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.<div class="wikimodel-emptyline"></div>
332	332
333		-[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar.jpg||alt="LSS-servo-ar.jpg"]]
	596	+[[image:LSS-servo-ar.jpg]]<div class="wikimodel-emptyline"></div>
334	334
	598	+Finally, the angular range action command (ex. #5AR1800&lt;cr&gt;) and origin offset action command (ex. #5O-1200&lt;cr&gt;) are used to move both the center and limit the angular range:<div class="wikimodel-emptyline"></div>
335	335
336		-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:
	600	+[[image:LSS-servo-ar-o-1.jpg]]<div class="wikimodel-emptyline"></div>
337	337
338		-[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar-o-1.jpg||alt="LSS-servo-ar-o-1.jpg"]]
	602	+Query Angular Range (**QAR**)<div class="wikimodel-emptyline"></div>
339	339
	604	+Example: #5QAR&lt;cr&gt; might return *5AR1800, indicating the total angular range is 180.0 degrees.<div class="wikimodel-emptyline"></div>
340	340
341		-Query Angular Range (**QAR**)
	606	+Configure Angular Range (**CAR**)<div class="wikimodel-emptyline"></div>
342	342
343		-Example: #5QAR<cr> might return *5AR1800, indicating the total angular range is 180.0 degrees.
	608	+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.
	609	+<div class="wikimodel-emptyline"></div></div></div>
	610	+{{/html}}
344	344
345		-Configure Angular Range (**CAR**)
	612	+====== __Angular Stiffness (**AS**)__ ======
346	346
347		-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.
	614	+{{html wiki="true" clean="false"}}
	615	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	616	+The servo's rigidity / angular stiffness can be thought of as (though not identical to) a damped spring in which the value affects the stiffness and embodies how much, and how quickly the servo tried keep the requested position against changes. There are no units.<div class="wikimodel-emptyline"></div>
348	348
	618	+A higher value of "angular stiffness":<div class="wikimodel-emptyline"></div>
	619	+
	620	+* The more torque will be applied to try to keep the desired position against external input / changes
	621	+* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position<div class="wikimodel-emptyline"></div>
	622	+
	623	+A lower value on the other hand:<div class="wikimodel-emptyline"></div>
	624	+
	625	+* Causes a slower acceleration to the travel speed, and a slower deceleration
	626	+* Allows the target position to deviate more from its position before additional torque is applied to bring it back<div class="wikimodel-emptyline"></div>
	627	+
	628	+The default value for stiffness depending on the firmware may be 0 or 1. Greater values produce increasingly erratic behavior and the effect becomes extreme below -4 and above +4. Maximum values are -10 to +10.<div class="wikimodel-emptyline"></div>
	629	+
	630	+Ex: #5AS-2&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	631	+
	632	+This reduces the angular stiffness to -2 for that session, allowing the servo to deviate more around the desired position. This can be beneficial in many situations such as impacts (legged robots) where more of a "spring" effect is desired. Upon reset, the servo will use the value stored in memory, based on the last configuration command.<div class="wikimodel-emptyline"></div>
	633	+
	634	+Ex: #5QAS&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	635	+
	636	+Queries the value being used.<div class="wikimodel-emptyline"></div>
	637	+
	638	+Ex: #5CAS-2&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	639	+
	640	+Writes the desired angular stiffness value to EEPROM.
	641	+<div class="wikimodel-emptyline"></div></div></div>
	642	+{{/html}}
	643	+
	644	+====== __Angular Holding Stiffness (**AH**)__ ======
	645	+
	646	+{{html wiki="true" clean="false"}}
	647	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	648	+The angular holding stiffness determines the servo's ability to hold a desired position under load. The default value for stiffness depending on the firmware may be 0 or 1. Greater values produce increasingly erratic behavior and the effect becomes extreme below -4 and above +4. Maximum values are -10 to +10.<div class="wikimodel-emptyline"></div>
	649	+
	650	+Ex: #5AH3&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	651	+
	652	+This sets the holding stiffness for servo #5 to 3 for that session.<div class="wikimodel-emptyline"></div>
	653	+
	654	+Query Angular Holding Stiffness (**QAH**)<div class="wikimodel-emptyline"></div>
	655	+
	656	+Ex: #5QAH&lt;cr&gt; might return *5QAH3&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	657	+
	658	+This returns the servo's angular holding stiffness value.<div class="wikimodel-emptyline"></div>
	659	+
	660	+Configure Angular Holding Stiffness (**CAH**)<div class="wikimodel-emptyline"></div>
	661	+
	662	+Ex: #5CAH2&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	663	+
	664	+This writes the angular holding stiffness of servo #5 to 2 to EEPROM.
	665	+<div class="wikimodel-emptyline"></div></div></div>
	666	+{{/html}}
	667	+
349	349	====== __Angular Acceleration (**AA**)__ ======
350	350
351		-The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
	670	+{{html wiki="true" clean="false"}}
	671	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	672	+The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.<div class="wikimodel-emptyline"></div>
352	352
353		-Ex: #5AA30<cr>
	674	+Ex: #5AA30&lt;cr&gt;<div class="wikimodel-emptyline"></div>
354	354
355		-This sets the angular acceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).
	676	+This sets the angular acceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).<div class="wikimodel-emptyline"></div>
356	356
357		-Query Angular Acceleration (**QAA**)
	678	+Query Angular Acceleration (**QAA**)<div class="wikimodel-emptyline"></div>
358	358
359		-Ex: #5QAA<cr> might return *5QAA30<cr>
	680	+Ex: #5QAA&lt;cr&gt; might return *5QAA30&lt;cr&gt;<div class="wikimodel-emptyline"></div>
360	360
361		-This returns the servo's angular acceleration in degrees per second squared (°/s^^2^^).
	682	+This returns the servo's angular acceleration in degrees per second squared (°/s^^2^^).<div class="wikimodel-emptyline"></div>
362	362
363		-Configure Angular Acceleration (**CAA**)
	684	+Configure Angular Acceleration (**CAA**)<div class="wikimodel-emptyline"></div>
364	364
365		-Ex: #5CAA30<cr>
	686	+Ex: #5CAA30&lt;cr&gt;<div class="wikimodel-emptyline"></div>
366	366
367	367	This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
	689	+<div class="wikimodel-emptyline"></div></div></div>
	690	+{{/html}}
368	368
369	369	====== __Angular Deceleration (**AD**)__ ======
370	370
371		-The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
	694	+{{html wiki="true" clean="false"}}
	695	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	696	+The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.<div class="wikimodel-emptyline"></div>
372	372
373		-Ex: #5AD30<cr>
	698	+Ex: #5AD30&lt;cr&gt;<div class="wikimodel-emptyline"></div>
374	374
375		-This sets the angular deceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).
	700	+This sets the angular deceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).<div class="wikimodel-emptyline"></div>
376	376
377		-Query Angular Deceleration (**QAD**)
	702	+Query Angular Deceleration (**QAD**)<div class="wikimodel-emptyline"></div>
378	378
379		-Ex: #5QAD<cr> might return *5QAD30<cr>
	704	+Ex: #5QAD&lt;cr&gt; might return *5QAD30&lt;cr&gt;<div class="wikimodel-emptyline"></div>
380	380
381		-This returns the servo's angular deceleration in degrees per second squared (°/s^^2^^).
	706	+This returns the servo's angular deceleration in degrees per second squared (°/s^^2^^).<div class="wikimodel-emptyline"></div>
382	382
383		-Configure Angular Deceleration (**CAD**)
	708	+Configure Angular Deceleration (**CAD**)<div class="wikimodel-emptyline"></div>
384	384
385		-Ex: #5CAD30<cr>
	710	+Ex: #5CAD30&lt;cr&gt;<div class="wikimodel-emptyline"></div>
386	386
387		-This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
	712	+This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
	713	+<div class="wikimodel-emptyline"></div></div></div>
	714	+{{/html}}
388	388
389	389	====== __Gyre Direction (**G**)__ ======
390	390
391		-"Gyre" is defined as a circular course or motion. The effect of changing the gyre direction is as if you were to use a mirror image of a circle. By default: CW = 1; CCW = -1.
	718	+{{html wiki="true" clean="false"}}
	719	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	720	+"Gyre" is defined as a circular course or motion. The effect of changing the gyre direction is as if you were to use a mirror image of a circle. By default: CW = 1; CCW = -1.<div class="wikimodel-emptyline"></div>
392	392
393		-Ex: #5G-1<cr>
	722	+Ex: #5G-1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
394	394
395		-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.
	724	+This command will cause servo #5's positions to be inverted, effectively causing the servo to rotate in the opposite direction given the same command. For example in a 2WD robot, servos are often physically installed back to back, therefore setting one of the servos to a negative gyration, the same wheel command (ex WR30) to both servos will cause the robot to move forward or backward rather than rotate.<div class="wikimodel-emptyline"></div>
396	396
397		-Query Gyre Direction (**QG**)Ex: #5QG<cr> might return *5QG-1<cr>
	726	+Query Gyre Direction (**QG**)<div class="wikimodel-emptyline"></div>
398	398
399		-The value returned above means the servo is in a counter-clockwise gyration. Sending a #5WR30 command will rotate the servo in a counter-clockwise gyration at 30 RPM.
	728	+Ex: #5QG&lt;cr&gt; might return *5QG-1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
400	400
401		-Configure Gyre (**CG**)
	730	+The value returned above means the servo is in a counter-clockwise gyration. Sending a #5WR30 command will rotate the servo in a counter-clockwise gyration at 30 RPM.<div class="wikimodel-emptyline"></div>
402	402
403		-Ex: #5CG-1<cr>
	732	+Configure Gyre (**CG**)<div class="wikimodel-emptyline"></div>
404	404
	734	+Ex: #5CG-1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	735	+
405	405	This changes the gyre direction as described above and also writes to EEPROM.
	737	+<div class="wikimodel-emptyline"></div></div></div>
	738	+{{/html}}
406	406
407	407	====== __First Position__ ======
408	408
409		-In certain cases, a user might want to have the servo move to a specific angle upon power up; we refer to this as "first position" (a.k.a. "initial position"). The factory default has no first position value stored in EEPROM and therefore upon power up, the servo remains limp until a position (or hold command) is assigned. Note that the number should be restricted to -1790 (-179.0 degrees) to +1790 (179.0 degrees) and values beyond this will be changed to 1800.Query First Position in Degrees (**QFD**)Ex: #5QFD<cr> might return *5QFD900<cr>The reply above indicates that servo with ID 5 has a first position of 90.0 degrees. If there is no first position value stored, the reply will be DIS.Configure First Position in Degrees (**CFD**)Ex: #5CFD900<cr>This configuration command means the servo, when set to smart mode, will immediately move to 90.0 degrees upon power up. Sending a CFD command without a number (Ex. #5CFD<cr>) results in the servo remaining limp upon power up. In order to remove the first position, send no value, ex: #5CFD<cr>
	742	+{{html wiki="true" clean="false"}}
	743	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	744	+In certain cases, a user might want to have the servo move to a specific angle upon power up; we refer to this as "first position" (a.k.a. "initial position"). The factory default has no first position value stored in EEPROM and therefore upon power up, the servo remains limp until a position (or hold command) is assigned. Note that the number should be restricted to -1790 (-179.0 degrees) to +1790 (179.0 degrees) and values beyond this will be changed to 1800. <div class="wikimodel-emptyline"></div>
410	410
	746	+Query First Position in Degrees (**QFD**)<div class="wikimodel-emptyline"></div>
	747	+
	748	+Ex: #5QFD&lt;cr&gt; might return *5QFD900&lt;cr&gt; <div class="wikimodel-emptyline"></div>
	749	+
	750	+The reply above indicates that servo with ID 5 has a first position of 90.0 degrees. If there is no first position value stored, the reply will be DIS.<div class="wikimodel-emptyline"></div>
	751	+
	752	+Configure First Position in Degrees (**CFD**)<div class="wikimodel-emptyline"></div>
	753	+
	754	+Ex: #5CFD900&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	755	+
	756	+This configuration command means the servo, when set to smart mode, will immediately move to 90.0 degrees upon power up. Sending a CFD command without a number (Ex. #5CFD&lt;cr&gt;) results in the servo remaining limp upon power up. In order to remove the first position, send no value, ex: #5CFD&lt;cr&gt;
	757	+<div class="wikimodel-emptyline"></div></div></div>
	758	+{{/html}}
	759	+
	760	+====== __Maximum Motor Duty (**MMD**)__ ======
	761	+
	762	+{{html wiki="true" clean="false"}}
	763	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	764	+This command allows the user to limit the duty cycle value sent from the servo's MCU to the DC Motor driver. The duty cycle limit value can be within the range of 255 to 1023. The default value is 1023. A typical use-case for this command is active compliance.<div class="wikimodel-emptyline"></div>
	765	+
	766	+Ex: #5MMD512&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	767	+
	768	+This will set the duty-cycle to 512 for servo with ID 5 for that session.<div class="wikimodel-emptyline"></div>
	769	+
	770	+Query Maximum Motor Duty (**QMMD**)<div class="wikimodel-emptyline"></div>
	771	+
	772	+Ex: #5QMMDD&lt;cr&gt; might return *5QMMD512&lt;cr&gt; <div class="wikimodel-emptyline"></div>
	773	+
	774	+This command returns the configured limit of the duty cycle value sent from the servo's MCU to the Motor Controller. The default value is 1023.
	775	+<div class="wikimodel-emptyline"></div></div></div>
	776	+{{/html}}
	777	+
411	411	====== __Maximum Speed in Degrees (**SD**)__ ======
412	412
413		-Ex: #5SD1800<cr>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.Query Speed in Degrees (**QSD**)Ex: #5QSD<cr> might return *5QSD1800<cr>By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever an SD/SR command is processed. If #5QSD1<cr> is sent, the configured maximum speed (CSD value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
	780	+{{html wiki="true" clean="false"}}
	781	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	782	+Ex: #5SD1800&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	783	+This command sets the servo's maximum speed for motion commands in tenths of degrees per second for that session. In the example above, the servo's maximum speed for that session would be set to 180.0 degrees per second. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. The SD action command overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD and SR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.<div class="wikimodel-emptyline"></div>
414	414
	785	+Query Speed in Degrees (**QSD**)<div class="wikimodel-emptyline"></div>
	786	+
	787	+Ex: #5QSD&lt;cr&gt; might return *5QSD1800&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	788	+
	789	+By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever an SD/SR command is processed. If #5QSD1&lt;cr&gt; is sent, the configured maximum speed (CSD value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:<div class="wikimodel-emptyline"></div>
	790	+
415	415	|**Command sent**|**Returned value (1/10 °)**
416		-|ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
417		-|ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
418		-|ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
419		-|ex: #5QSD3<cr>|Target travel speed
	792	+|ex: #5QSD&lt;cr&gt;|Session value for maximum speed (set by latest SD/SR command)
	793	+|ex: #5QSD1&lt;cr&gt;|Configured maximum speed in EEPROM (set by CSD/CSR)
	794	+|ex: #5QSD2&lt;cr&gt;|Instantaneous speed (same as QWD)
	795	+|ex: #5QSD3&lt;cr&gt;|Target travel speed<div class="wikimodel-emptyline"></div>
420	420
421		-Configure Speed in Degrees (**CSD**)Ex: #5CSD1800<cr>Using the CSD command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 180.0 degrees per second. When the servo is powered on (or after a reset), the CSD value is used. Note that CSD and CSR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.
	797	+Configure Speed in Degrees (**CSD**)<div class="wikimodel-emptyline"></div>
422	422
	799	+Ex: #5CSD1800&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	800	+Using the CSD command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 180.0 degrees per second. When the servo is powered on (or after a reset), the CSD value is used. Note that CSD and CSR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.<div class="wikimodel-emptyline"></div>
	801	+</div></div>
	802	+{{/html}}
	803	+
423	423	====== __Maximum Speed in RPM (**SR**)__ ======
424	424
425		-Ex: #5SR45<cr>This command sets the servo's maximum speed for motion commands in rpm for that session. In the example above, the servo's maximum speed for that session would be set to 45rpm. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SR overrides CSR (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSR as described below. Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.Query Speed in RPM (**QSR**)Ex: #5QSR<cr> might return *5QSR45<cr>By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever an SD/SR command is processed. If #5QSR1<cr> is sent, the configured maximum speed (CSR value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
	806	+{{html wiki="true" clean="false"}}
	807	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	808	+Ex: #5SR45&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	809	+This command sets the servo's maximum speed for motion commands in rpm for that session. In the example above, the servo's maximum speed for that session would be set to 45rpm. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SR overrides CSR (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSR as described below. Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.<div class="wikimodel-emptyline"></div>
426	426
	811	+Query Speed in RPM (**QSR**)<div class="wikimodel-emptyline"></div>
	812	+
	813	+Ex: #5QSR&lt;cr&gt; might return *5QSR45&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	814	+
	815	+By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever an SD/SR command is processed. If #5QSR1&lt;cr&gt; is sent, the configured maximum speed (CSR value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:<div class="wikimodel-emptyline"></div>
	816	+
427	427	|**Command sent**|**Returned value (1/10 °)**
428		-|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
429		-|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
430		-|ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
431		-|ex: #5QSR3<cr>|Target travel speed
	818	+|ex: #5QSR&lt;cr&gt;|Session value for maximum speed (set by latest SD/SR command)
	819	+|ex: #5QSR1&lt;cr&gt;|Configured maximum speed in EEPROM (set by CSD/CSR)
	820	+|ex: #5QSR2&lt;cr&gt;|Instantaneous speed (same as QWD)
	821	+|ex: #5QSR3&lt;cr&gt;|Target travel speed<div class="wikimodel-emptyline"></div>
432	432
433		-Configure Speed in RPM (**CSR**)Ex: #5CSR45<cr>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.
	823	+Configure Speed in RPM (**CSR**)<div class="wikimodel-emptyline"></div>
434	434
	825	+Ex: #5CSR45&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	826	+Using the CSR command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSR value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) received is what the servo uses for that session.<div class="wikimodel-emptyline"></div>
	827	+</div></div>
	828	+{{/html}}
	829	+
435	435	== Modifiers ==
436	436
437		-====== __Speed (**SD**) modifier__ ======
	832	+====== __Speed (**S**, **SD**) modifier__ ======
438	438
439		-(% class="wikigeneratedid" id="HTimedmove28T29modifier" %)
440		-Example: #5D0SD180<cr>
	834	+{{html clean="false" wiki="true"}}
	835	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	836	+Example: #5P1500S750&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	837	+Modifier (S) is only for a position (P) action and determines the speed of the move in microseconds per second. A speed of 750 microseconds would cause the servo to rotate from its current position to the desired position at a speed of 750 microseconds per second. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.<div class="wikimodel-emptyline"></div>
	838	+Example: #5D0SD180&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	839	+Modifier (SD) is only for a position (D) or relative position (MD) action and determines the speed of the move in tenths of degrees per second. A speed modifier (SD) of 180 would cause the servo to rotate from its current position to the desired absolute or relative position at a speed of 18 degrees per second.<div class="wikimodel-emptyline"></div>
	840	+Query Speed (**QS**)<div class="wikimodel-emptyline"></div>
	841	+Example: #5QS&lt;cr&gt; might return *5QS300&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	842	+This command queries the current speed in microseconds per second.<div class="wikimodel-emptyline"></div>
	843	+</div></div>
	844	+{{/html}}
441	441
442		-(% class="wikigeneratedid" %)
443		-Modifier (SD) is only for a position (D) or relative position (MD) action and determines the speed of the move in tenths of degrees per second. A speed modifier (SD) of 180 would cause the servo to rotate from its current position to the desired absolute or relative position at a speed of 18 degrees per second.
	846	+====== __Timed move (**T**) modifier__ ======
444	444
445		-(% class="wikigeneratedid" %)
446		-Query Speed (**QS**)
	848	+{{html wiki="true" clean="false"}}
	849	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	850	+Example: #5P1500T2500&lt;cr&gt;<div class="wikimodel-emptyline"></div>
447	447
448		-(% class="wikigeneratedid" %)
449		-Example: #5QS<cr> might return *5QS300<cr>
	852	+Timed move can be used only as a modifier for a position (P, D, MD) actions. The units are in milliseconds, so a timed move of 2500 milliseconds would cause the servo to rotate from its current position to the desired position in 2.5 seconds. The onboard controller will attempt to ensure that the move is performed entirely at the desired velocity, though differences in torque may cause it to not be exact. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.<div class="wikimodel-emptyline"></div>
	853	+**Note:** If the calculated speed at which a servo must rotate for a timed move is greater than its maximum speed (which depends on voltage and load), then it will move at its maximum speed, and the time of the move may be longer than requested.<div class="wikimodel-emptyline"></div>
	854	+</div></div>
	855	+{{/html}}
450	450
451		-(% class="wikigeneratedid" %)
452		-This command queries the current speed in microseconds per second.
	857	+====== __Current Halt & Hold (**CH**) modifier__ ======
453	453
454		-====== __Timed move (**T**) modifier__ ======
	859	+{{html wiki="true" clean="false"}}
	860	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	861	+Example: #5D1423CH400&lt;cr&gt;<div class="wikimodel-emptyline"></div>
455	455
456		-Example: #5D15000T2500<cr>
	863	+This has servo with ID 5 move to 142.3 degrees but, should it detect a current of 400mA or higher before it reaches the desired position, will immediately halt and hold position.<div class="wikimodel-emptyline"></div>
	864	+This modifier can be added to the following actions: D; MD; WD; WR.<div class="wikimodel-emptyline"></div>
	865	+</div></div>
	866	+{{/html}}
457	457
458		-Timed move can be used only as a modifier for a position (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.
	868	+====== __Current Limp (**CL**) modifier__ ======
459	459
460		-**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
	870	+{{html wiki="true" clean="false"}}
	871	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	872	+Example: #5D1423CL400&lt;cr&gt;<div class="wikimodel-emptyline"></div>
461	461
462		-====== ======
	874	+This has servo with ID 5 move to 142.3 degrees but, should it detect a current of 400mA or higher before it reaches the desired position, will immediately go limp.<div class="wikimodel-emptyline"></div>
	875	+This modifier can be added to the following actions: D; MD; WD; WR.<div class="wikimodel-emptyline"></div>
	876	+</div></div>
	877	+{{/html}}
463	463
464	464	== Telemetry ==
465	465
466	466	====== __Query Voltage (**QV**)__ ======
467	467
468		-Ex: #5QV<cr> might return *5QV11200<cr>
	883	+{{html wiki="true" clean="false"}}
	884	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	885	+Ex: #5QV&lt;cr&gt; might return *5QV11200&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	886	+The number returned is in milliVolts, so in the case above, servo with ID 5 has an input voltage of 11.2V.<div class="wikimodel-emptyline"></div>
	887	+</div></div>
	888	+{{/html}}
469	469
470		-The number returned is in milliVolts, so in the case above, servo with ID 5 has an input voltage of 11.2V.
471		-
472	472	====== __Query Temperature (**QT**)__ ======
473	473
474		-Ex: #5QT<cr> might return *5QT564<cr>
	892	+{{html wiki="true" clean="false"}}
	893	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	894	+Ex: #5QT&lt;cr&gt; might return *5QT564&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	895	+The units are in tenths of degrees Celcius, so in the example above, the servo's internal temperature is 56.4 degrees C. To convert from degrees Celcius to degrees Farenheit, multiply by 1.8 and add 32. Therefore 56.4C = 133.52F.<div class="wikimodel-emptyline"></div>
	896	+</div></div>
	897	+{{/html}}
475	475
476		-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.
	899	+====== __Query Current (**QC**)__ ======
477	477
478		-====== __Query Motor Driver Current (**QC**)__ ======
	901	+{{html wiki="true" clean="false"}}
	902	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	903	+Ex: #5QC&lt;cr&gt; might return *5QC140&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	904	+The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.<div class="wikimodel-emptyline"></div>
	905	+</div></div>
	906	+{{/html}}
479	479
480		-Ex: #5QC<cr> might return *5QC140<cr>
	908	+====== __Query Model String (**QMS**)__ ======
481	481
482		-The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A. It represents the RMS value.
	910	+{{html wiki="true" clean="false"}}
	911	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	912	+Ex: #5QMS&lt;cr&gt; might return *5QMSLSS-HS1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	913	+This reply means that the servo model is LSS-HS1: a high speed servo, first revision.<div class="wikimodel-emptyline"></div>
	914	+</div></div>
	915	+{{/html}}
483	483
484		-====== __Query Model String (**QMS**)__ ======
	917	+====== __Query Firmware (**QF**)__ ======
485	485
486		-Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
	919	+{{html wiki="true" clean="false"}}
	920	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	921	+Ex: #5QF&lt;cr&gt; might return *5QF368&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	922	+The number in the reply represents the firmware version, in this example being 368.<div class="wikimodel-emptyline"></div>
	923	+The command #5QF3&lt;cr&gt; can also be sent and the servo will reply with a 3 numbers firmware version, for example, 368.29.14<div class="wikimodel-emptyline"></div>
	924	+</div></div>
	925	+{{/html}}
487	487
488		-This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
	927	+====== __Query Serial Number (**QN**)__ ======
489	489
490		-====== __Query Firmware (**QF**)__ ======
	929	+{{html wiki="true" clean="false"}}
	930	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	931	+Ex: #5QN&lt;cr&gt; might return *5QN12345678&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	932	+The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.<div class="wikimodel-emptyline"></div>
	933	+</div></div>
	934	+{{/html}}
491	491
492		-Ex: #5QF<cr> might return *5QF368<cr>
	936	+== RGB LED ==
493	493
494		-The number in the reply represents the firmware version, in this example being 368.The command #5QF3<cr> can also be sent and the servo will reply with a 3 numbers firmware version, for example, 368.29.14
	938	+====== __LED Color (**LED**)__ ======
495	495
496		-====== __Query Serial Number (**QN**)__ ======
	940	+{{html wiki="true" clean="false"}}
	941	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	942	+Ex: #5LED3&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	943	+This action sets the servo's RGB LED color for that session.The LED can be used for aesthetics, or (based on user code) to provide visual status updates. Using timing can create patterns.<div class="wikimodel-emptyline"></div>
	944	+0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;<div class="wikimodel-emptyline"></div>
	945	+Query LED Color (**QLED**)<div class="wikimodel-emptyline"></div>
	946	+Ex: #5QLED&lt;cr&gt; might return *5QLED5&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	947	+This simple query returns the indicated servo's LED color.<div class="wikimodel-emptyline"></div>
	948	+Configure LED Color (**CLED**)<div class="wikimodel-emptyline"></div>
	949	+Ex: #5CLED3&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	950	+Configuring the LED color via the CLED command sets the startup color of the servo after a reset or power cycle. Note that it also changes the session's LED color immediately as well. The command above will configure the servo's LED to a Blue color.<div class="wikimodel-emptyline"></div>
	951	+</div></div>
	952	+{{/html}}
497	497
498		-Ex: #5QN<cr> might return *5QN12345678<cr>
	954	+====== __Configure LED Blinking (**CLB**)__ ======
499	499
500		-The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
	956	+{{html wiki="true" clean="false"}}
	957	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	958	+This command allows you to control when the RGB LED will blink the user set color (see RGB LED command for details). This is very useful when visually seeing what the servo is doing. You can turn on or off blinking for various LSS status. The command requires that the servo be RESET. Here is the list and their associated value:<div class="wikimodel-emptyline"></div>
	959	+
	960	+(% style="width:195px" %)
	961	+|(% style="width:134px" %)**Blink While:**|(% style="width:58px" %)**#**
	962	+|(% style="width:134px" %)No blinking|(% style="width:58px" %)0
	963	+|(% style="width:134px" %)Limp|(% style="width:58px" %)1
	964	+|(% style="width:134px" %)Holding|(% style="width:58px" %)2
	965	+|(% style="width:134px" %)Accelerating|(% style="width:58px" %)4
	966	+|(% style="width:134px" %)Decelerating|(% style="width:58px" %)8
	967	+|(% style="width:134px" %)Free|(% style="width:58px" %)16
	968	+|(% style="width:134px" %)Travelling|(% style="width:58px" %)32
	969	+|(% style="width:134px" %)Always blink|(% style="width:58px" %)63<div class="wikimodel-emptyline"></div>
	970	+
	971	+To set blinking, use CLB with the value of your choosing. To activate blinking in multiple status, simply add together the values of the corresponding status. See examples below:<div class="wikimodel-emptyline"></div>
	972	+Ex: #5CLB0<cr> to turn off all blinking (LED always solid)<div class="wikimodel-emptyline"></div>
	973	+Ex: #5CLB1<cr> only blink when limp (1)<div class="wikimodel-emptyline"></div>
	974	+Ex: #5CLB2<cr> only blink when holding (2)<div class="wikimodel-emptyline"></div>
	975	+Ex: #5CLB12<cr> only blink when accel or decel (accel 4 + decel 8 = 12)<div class="wikimodel-emptyline"></div>
	976	+Ex: #5CLB48<cr> only blink when free or travel (free 16 + travel 32 = 48)<div class="wikimodel-emptyline"></div>
	977	+Ex: #5CLB63<cr> blink in all status (1 + 2 + 4 + 8 + 16 + 32)<div class="wikimodel-emptyline"></div>
	978	+RESETTING the servo is needed.<div class="wikimodel-emptyline"></div>
	979	+</div></div>
	980	+{{/html}}
	981	+
	982	+== RGB LED ==
	983	+
	984	+The LED can be