Wiki source code of LSS-P - Communication Protocol

Last modified by Eric Nantel on 2024/07/03 09:42

6.1	1	{{warningBox warningText="More information coming soon"/}}
	2
1.2	3	(% class="wikigeneratedid" id="HTableofContents" %)
	4	Page Contents
	5
	6	{{toc depth="3"/}}
	7
	8	= Serial Protocol =
	9
20.1	10	The Lynxmotion Smart Servo (LSS) PRO serial protocol was created in order to be as simple and straightforward as possible from a user perspective ("human readable format"), while at the same time staying compact and robust yet highly versatile. The protocol was based on Lynxmotion's Smart Servo (LSS) protocol, which itself was based on the SSC-32 & SSC-32U RC servo controllers. The LSS PRO series and normal LSS share many of the same commands, but because of higher angular precision, slightly different operation and different features, the two protocols do not fully overlap.
1.2	11
	12	In order to be able to control each servo individually with commands, the first step should be to assign a different ID number to each servo (see details on the Configure ID, or "CID" command [[here>>doc:\|\|anchor="HIdentificationNumber28ID29"]]). Only the servo(s) which have been configured to a specific ID will act on a command sent to that ID. There is currently no CRC or checksum implemented as part of the protocol.
9.1	13
	14	= Action Commands =
	15
23.1	16	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>>\|\|anchor="HVirtualAngularPosition"]] (described below). Action commands are sent serially to the servo and must be sent in the following format:
9.1	17
11.1	18	1. Start with a number sign # (Unicode Character: U+0023)
	19	1. Servo ID number as an integer (assigning an ID described below)
	20	1. Action command (one or more letters, no whitespace, capital or lowercase from the list below)
	21	1. Action value in the correct units with no decimal
	22	1. End with a carriage return \r or <cr> Unicode Character (U+000D)
9.1	23
11.1	24	(((
20.1	25	Ex: #5D130000<cr>
9.1	26
20.1	27	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 (13000 in hundredths of degrees) of 130.00 degrees. Any servo on the bus which does not have ID 5 will take no action when receiving this command.
10.1	28
	29	== Modifiers ==
	30
35.1	31	Modifiers can only be used with certain action commands. The format to include a modifier is:
10.1	32
35.1	33	1. Start with a number sign # (Unicode Character: U+0023)
10.1	34	1. Servo ID number as an integer
	35	1. Action command (one to three letters, no spaces, capital or lowercase from a subset of action commands below)
	36	1. Action value in the correct units with no decimal
35.1	37	1. Modifier command (one or two letters from the list of modifiers below)
10.1	38	1. Modifier value in the correct units with no decimal
35.1	39	1. End with a carriage return \r or <cr> Unicode Character (U+000D)
10.1	40
35.1	41	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).
10.1	42
35.1	43	== Queries ==
12.1	44
35.1	45	Query commands request information from the servo. Query commands are also similar to action and configuration commands and must use the following format:
12.1	46
35.1	47	1. Start with a number sign # (Unicode Character: U+0023)
12.1	48	1. Servo ID number as an integer
	49	1. Query command (one to four letters, no spaces, capital or lower case)
35.1	50	1. End with a carriage return \r or <cr> Unicode Character (U+000D)
12.1	51
35.1	52	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:
12.1	53
	54	1. Start with an asterisk * (Unicode Character: U+0023)
	55	1. Servo ID number as an integer
	56	1. Query command (one to four letters, no spaces, capital letters)
	57	1. The reported value in the units described, no decimals.
35.1	58	1. End with a carriage return \r or <cr> Unicode Character (U+000D)
12.1	59
35.1	60	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:
12.1	61
35.1	62	Ex: *5QD13000<cr>
12.1	63
20.1	64	This indicates that servo #5 is currently at 130.00 degrees (13000 tenths of degrees).
12.1	65
35.1	66	== Configurations ==
24.1	67
35.1	68	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.
12.1	69
35.1	70	The format to send a configuration command is identical to that of an action command:
12.1	71
35.1	72	1. Start with a number sign # (Unicode Character: U+0023)
12.1	73	1. Servo ID number as an integer
	74	1. Configuration command (two to four letters, no spaces, capital or lower case)
	75	1. Configuration value in the correct units with no decimal
35.1	76	1. End with a carriage return \r or <cr> Unicode Character (U+000D)
12.1	77
35.1	78	Ex: #5CO-500<cr>
12.1	79
35.1	80	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).
12.1	81
35.1	82	Session vs Configuration Query
12.1	83
35.1	84	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:
12.1	85
35.1	86	Ex: #5CSR10<cr> immediately sets the maximum speed for servo #5 to 10rpm (explained below) and changes the value in memory.
12.1	87
35.1	88	After RESET, a command of #5SR4<cr> sets the session's speed to 4rpm, but does not change the configuration value in memory. Therefore:
12.1	89
35.1	90	#5QSR<cr> or #5QSR0<cr> would return *5QSR4<cr> which represents the value for that session, whereas
12.1	91
35.1	92	#5QSR1<cr> would return *5QSR10<cr> which represents the value in EEPROM
12.1	93
35.1	94	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).
12.1	95
35.1	96	[[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"]]
12.1	97
35.1	98	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:
12.1	99
35.1	100	#1D-3000<cr> This causes the servo to move to -30.00 degrees (green arrow)
12.1	101
35.1	102	#1D21000<cr> This second position command is sent to the servo, which moves it to 210.00 degrees (orange arrow)
12.1	103
35.1	104	#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.
12.1	105
35.1	106	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.
12.1	107
35.1	108	#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.
12.1	109
35.1	110	#1D33000<cr> would cause the servo to rotate from 480.0 degrees to 330.00 degrees (yellow arrow).
12.1	111
25.1	112	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°].
11.1	113	)))
13.1	114
	115	= Command List =
	116
	117	Latest firmware version currently : v0.0.780
	118
22.1	119	\|(% colspan="8" style="color:orange; font-size:18px" %)[[Communication Setup>>\|\|anchor="HCommunicationSetup"]]
	120	\|(% style="width:25px" %) \|(% style="width:200px" %)Description\|(% style="text-align:center; width:100px" %)Action\|(% style="text-align:center; width:75px" %)Query\|(% style="text-align:center; width:75px" %)Config\|(% style="width:100px" %)Default\|(% style="width:170px" %)Unit\|Notes
	121	\| \|[[Reset>>\|\|anchor="HReset"]]\|(% style="text-align:center" %)RESET\|(% style="text-align:center" %) \|(% style="text-align:center" %) \| \| \|Soft reset. See command for details.
	122	\| \|[[Default Configuration>>\|\|anchor="HDefault26confirm"]]\|(% style="text-align:center" %)DEFAULT\|(% style="text-align:center" %) \|(% style="text-align:center" %) \| \| \|Revert to firmware default values. See command for details
	123	\| \|[[Firmware Update Mode>>\|\|anchor="HUpdate26confirm"]]\|(% style="text-align:center" %)UPDATE\|(% style="text-align:center" %) \|(% style="text-align:center" %) \| \| \|Update firmware. See command for details.
	124	\| \|[[Confirm Changes>>\|\|anchor="HConfirm"]]\|(% style="text-align:center" %)CONFIRM\|(% style="text-align:center" %) \|(% style="text-align:center" %) \| \| \|
41.1	125	\| \|[[ID Number >>\|\|anchor="HIDNumber28ID29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QID\|(% style="text-align:center" %)CID\|0\| \|Reset required after change. ID 254 is a "broadcast" which all servos respond to.
43.1	126	\| \|[[Enable CAN Terminal>>doc:\|\|anchor="HEnableCANTerminalResistor28ET29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QET\|(% style="text-align:center" %)CET\| \|0 or 1\|0: Disable 1: Enable
	127	\| \|[[USB Connection Status>>\|\|anchor="HUSBConnectionStatus28UC29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QUC\|(% style="text-align:center" %) \| \|0 or 1\|0: Not connected 1: Connected
	128	\| \|[[Query Firmware Release>>doc:\|\|anchor="HFirmwareRelease28FR29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QFR\|(% style="text-align:center" %) \| \| \|
13.1	129
22.1	130	\|(% colspan="8" style="color:orange; font-size:18px" %)[[Motion>>\|\|anchor="HMotion"]]
	131	\|(% style="width:25px" %) \|(% style="width:200px" %)Description\|(% style="text-align:center; width:100px" %)Action\|(% style="text-align:center; width:75px" %)Query\|(% style="text-align:center; width:75px" %)Config\|(% style="width:100px" %)Default\|(% style="width:170px" %)Unit\|Notes
	132	\| \|[[Position in Degrees>>\|\|anchor="HPositioninDegrees28D29"]]\|(% style="text-align:center" %)D\|(% style="text-align:center" %)QD/QDT\|(% style="text-align:center" %) \| \|1/100°\|
	133	\| \|[[Move in Degrees (relative)>>\|\|anchor="H28Relative29MoveinDegrees28MD29"]]\|(% style="text-align:center" %)MD\|(% style="text-align:center" %) \|(% style="text-align:center" %) \| \|1/100°\|
	134	\| \|[[Wheel mode in Degrees>>\|\|anchor="HWheelModeinDegrees28WD29"]]\|(% style="text-align:center" %)WD\|(% style="text-align:center" %)QWD/QVT\|(% style="text-align:center" %) \| \|°/s\|A.K.A. "Speed mode" or "Continuous rotation"
	135	\| \|[[Wheel mode in RPM>>\|\|anchor="HWheelModeinRPM28WR29"]]\|(% style="text-align:center" %)WR\|(% style="text-align:center" %)QWR\|(% style="text-align:center" %) \| \|RPM\|A.K.A. "Speed mode" or "Continuous rotation"
	136	\| \|[[Query Motion Status>>\|\|anchor="HQueryStatus28Q29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)Q\|(% style="text-align:center" %) \| \|1 to 8 integer\|See command description for details
	137	\| \|[[Limp>>\|\|anchor="HLimp28L29"]]\|(% style="text-align:center" %)L\|(% style="text-align:center" %) \|(% style="text-align:center" %) \| \| \|Removes power from stepper coils
	138	\| \|[[Halt & Hold>>\|\|anchor="HHalt26Hold28H29"]]\|(% style="text-align:center" %)H\|(% style="text-align:center" %) \|(% style="text-align:center" %) \| \| \|Stops (halts) motion profile and holds last position
13.1	139
22.1	140	\|(% colspan="8" style="color:orange; font-size:18px" %)[[Motion Setup>>\|\|anchor="HMotionSetup"]]
	141	\|(% style="width:25px" %) \|(% style="width:200px" %)Description\|(% style="text-align:center; width:100px" %)Action\|(% style="text-align:center; width:75px" %)Query\|(% style="text-align:center; width:75px" %)Config\|(% style="width:100px" %)Default\|(% style="width:170px" %)Unit\|Notes
	142	\| \|[[Origin Offset>>\|\|anchor="HOriginOffset28O29"]]\|(% style="text-align:center" %)O\|(% style="text-align:center" %)QO\|(% style="text-align:center" %)CO\|0\|1/10°\|
	143	\| \|[[Angular Range>>\|\|anchor="HAngularRange28AR29"]]\|(% style="text-align:center" %)AR\|(% style="text-align:center" %)QAR\|(% style="text-align:center" %)CAR\|1800\|1/10°\|
	144	\| \|[[Angular Acceleration>>\|\|anchor="HAngularAcceleration28AA29"]]\|(% style="text-align:center" %)AA\|(% style="text-align:center" %)QAA\|(% style="text-align:center" %)CAA\|100\|°/s^^2^^\|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
	145	\| \|[[Angular Deceleration>>\|\|anchor="HAngularDeceleration28AD29"]]\|(% style="text-align:center" %)AD\|(% style="text-align:center" %)QAD\|(% style="text-align:center" %)CAD\|100\|°/s^^2^^\|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
	146	\| \|[[Gyre Direction>>\|\|anchor="HGyreDirection28G29"]]\|(% style="text-align:center" %)G\|(% style="text-align:center" %)QG\|(% style="text-align:center" %)CG\|1\| \|Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)
	147	\| \|[[First Position (Deg)>>\|\|anchor="HFirstPosition"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QFD\|(% style="text-align:center" %)CFD\|No value\|1/10°\|Reset required after change.
	148	\| \|[[Maximum Speed in Degrees>>\|\|anchor="HMaximumSpeedinDegrees28SD29"]]\|(% style="text-align:center" %)SD\|(% style="text-align:center" %)QSD\|(% style="text-align:center" %)CSD\|Max\|0.1°/s\|SD overwrites SR / CSD overwrites CSR and vice-versa
	149	\| \|[[Maximum Speed in RPM>>\|\|anchor="HMaximumSpeedinRPM28SR29"]]\|(% style="text-align:center" %)SR\|(% style="text-align:center" %)QSR\|(% style="text-align:center" %)CSR\|Max\|RPM\|SD overwrites SR / CSD overwrites CSR and vice-versa
48.1	150	\| \|[[Step Mode>>doc:\|\|anchor="HStepMode28SM29"]]\|(% style="text-align:center" %)SM\|(% style="text-align:center" %)QM\|(% style="text-align:center" %)CSM\|2\|1, 2, 4\|Numbers represent fractions: full step, ½ step, ¼ step
13.1	151
22.1	152	\|(% colspan="8" style="color:orange; font-size:18px" %)[[Modifiers>>\|\|anchor="HModifiers"]]
	153	\|(% style="width:25px" %) \|(% style="width:200px" %)Description\|(% style="text-align:center; width:100px" %)Modifier\|(% style="text-align:center; width:75px" %)Query\|(% style="text-align:center; width:75px" %)Config\|(% style="width:100px" %)Default\|(% style="width:170px" %)Unit\|Notes
	154	\| \|[[Speed in Degrees>>\|\|anchor="HSpeed28S2CSD29modifier"]]\|(% style="text-align:center" %)SD\|(% style="text-align:center" %) \|(% style="text-align:center" %) \| \|1°/s\|For D and MD action commands
	155	\| \|[[Timed move>>\|\|anchor="HTimedmove28T29modifier"]]\|(% style="text-align:center" %)T\|(% style="text-align:center" %) \|(% style="text-align:center" %) \| \|ms\|Time associated with D, MD commands
13.1	156
22.1	157	\|(% colspan="8" style="color:orange; font-size:18px" %)[[Telemetry>>\|\|anchor="HTelemetry"]]
	158	\|(% style="width:25px" %) \|(% style="width:200px" %)Description\|(% style="text-align:center; width:100px" %)Action\|(% style="text-align:center; width:75px" %)Query\|(% style="text-align:center; width:75px" %)Config\|(% style="width:100px" %)Default\|(% style="width:170px" %)Unit\|Notes
	159	\| \|[[Query PCB Temperature>>\|\|anchor="HQueryTemperature28QT29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QT\|(% style="text-align:center" %) \| \|°C\|
	160	\| \|[[Query Current>>\|\|anchor="HQueryCurrent28QC29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QC\|(% style="text-align:center" %) \| \|mA\|Nominal RMS value to stepper motor driver IC.
	161	\| \|[[Query Model String>>\|\|anchor="HQueryModelString28QMS29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QMS\|(% style="text-align:center" %) \| \| \|Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)
	162	\| \|[[Query Firmware Version>>\|\|anchor="HQueryFirmware28QF29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QF\|(% style="text-align:center" %) \| \| \|
	163	\| \|[[Query Serial Number>>\|\|anchor="HQuerySerialNumber28QN29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QN\|(% style="text-align:center" %) \| \| \|Returns the unique serial number for the servo
53.1	164	\| \|[[Query Temperature Probe>>doc:\|\|anchor="HQueryTemperatureProbe28QTP29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QTP\|(% style="text-align:center" %) \| \| \|Queries temperature probe fixed to the stepper motor
	165	\| \|[[Query Temp of MCU>>doc:\|\|anchor="HQueryMCUTemperature28QTM29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QTM\|(% style="text-align:center" %) \| \| \|
	166	\| \|[[Query Temp of Controller>>doc:\|\|anchor="HQueryTempofController28QTCW29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QTCW, QTCE\|(% style="text-align:center" %) \| \| \|(((
22.1	167	QTCW: Queries the temperature status of the motor controller (pre-warning)
13.1	168
22.1	169	QTCE: Queries the temperature status of the motor controller (over-temp error)
	170	)))
55.1	171	\| \|[[Query IMU Linear X>>doc:\|\|anchor="HQueryIMULinear28QIXQIYQIZ29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QIX\|(% style="text-align:center" %) \| \|mm/s^2\|
	172	\| \|[[Query IMU Linear Y>>doc:\|\|anchor="HQueryIMULinear28QIXQIYQIZ29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QIY\|(% style="text-align:center" %) \| \|mm/s^2\|
	173	\| \|[[Query IMU Linear Z>>doc:\|\|anchor="HQueryIMULinear28QIXQIYQIZ29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QIZ\|(% style="text-align:center" %) \| \|mm/s^2\|
53.1	174	\| \|[[Query IMU Angular Accel α >>doc:\|\|anchor="HQueryIMUAngular28QIAQIBQIC29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QIA\|(% style="text-align:center" %) \| \|°/s^2\|Query IMU Angular Accel α (Alpha)
	175	\| \|[[Query IMU Angular Accel β>>doc:\|\|anchor="HQueryIMUAngular28QIAQIBQIC29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QIB\|(% style="text-align:center" %) \| \|°/s^2\|Query IMU Angular Accel β (Beta)
	176	\| \|[[Query IMU Angular Accel γ>>doc:\|\|anchor="HQueryIMUAngular28QIAQIBQIC29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QIC / QIG\|(% style="text-align:center" %) \| \|°/s^2\|Query IMU Angular Accel γ (Gamma)
19.1	177
22.1	178	\|(% colspan="8" style="color:orange; font-size:18px" %)[[RGB LED>>\|\|anchor="HRGBLED"]]
	179	\|(% style="width:25px" %) \|(% style="width:200px" %)Description\|(% style="text-align:center; width:100px" %)Action\|(% style="text-align:center; width:75px" %)Query\|(% style="text-align:center; width:75px" %)Config\|(% style="width:100px" %)Default\|(% style="width:170px" %)Unit\|Notes
	180	\| \|[[LED Color>>\|\|anchor="HLEDColor28LED29"]]\|(% style="text-align:center" %)LED\|(% style="text-align:center" %)QLED\|(% style="text-align:center" %)CLED\| \|0 to 7 integer\|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White
	181
19.1	182	= (% style="color:inherit; font-family:inherit" %)Details(%%) =
	183
	184	== (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) ==
	185
57.1	186	\|(% colspan="2" %)(((
	187	====== __Reset__ ======
	188	)))
	189	\| \|(((
	190	Ex: #5RESET<cr>
36.1	191
57.1	192	This command does a "soft reset" and reverts all commands to those stored in EEPROM (i.e. configuration commands). Note: after a RESET command is received, the LSS will restart and perform initilization again, making it unavailable on the bus for a bit. See Session, note #2 for more details.
	193	)))
36.1	194
57.1	195	\|(% colspan="2" %)(((
36.1	196	====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
57.1	197	)))
60.1	198	\|(% style="width:30px" %) \|(((
36.1	199	(% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
	200
	201	(% style="color:inherit; font-family:inherit" %)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.
	202
	203	(% style="color:inherit; font-family:inherit" %)EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
	204
	205	(% style="color:inherit; font-family:inherit" %)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.
	206
	207	(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
58.1	208	)))
36.1	209
58.1	210	\|(% colspan="2" %)(((
36.1	211	====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
58.1	212	)))
60.1	213	\|(% style="width:30px" %) \|(((
36.1	214	(% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
	215
	216	(% style="color:inherit; font-family:inherit" %)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.
	217
	218	(% style="color:inherit; font-family:inherit" %)EX: #5UPDATE<cr> followed by #5CONFIRM<cr>
	219
	220	(% style="color:inherit; font-family:inherit" %)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.
	221
	222	(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
58.1	223	)))
36.1	224
60.1	225	\|(% colspan="2" %)(((
	226	====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
	227	)))
59.1	228	\|(% style="width:30px" %) \|(((
36.1	229	(% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
	230
	231	(% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
37.1	232	Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
59.1	233	)))
36.1	234
60.1	235	\|(% colspan="2" %)(((
61.1	236	====== (% style="color:inherit; font-family:inherit" %)__ID Number__(%%) ======
60.1	237	)))
59.1	238	\|(% style="width:30px" %) \|(((
61.1	239	This assigns ID #5 to the servo previously assigned to ID 0
	240
39.1	241	(% style="color:inherit; font-family:inherit" %)Configure ID Number (CID)
	242
	243	(% style="color:inherit; font-family:inherit" %)Ex: #0CID5<cr>
	244
	245	The default ID is 0, so this sets the servo to ID 5.
	246
	247	Query ID Number (QID)
	248
	249	Ex: #254QID<cr> might return *254QID5<cr>
	250
	251	In this case, the broadcast ID is used to ensure the servo connected will reply with the ID. This can be used in case the ID assigned to a servo is forgotten.
59.1	252	)))
39.1	253
60.1	254	\|(% colspan="2" %)(((
61.1	255	====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor__(%%) ======
60.1	256	)))
59.1	257	\|(% style="width:30px" %) \|(((
37.1	258	Query Enable CAN Terminal Resistor (QET)
	259
	260	Ex: #5QET<cr> might return *QET0<cr>
	261
	262	This means that servo with ID 5 is NOT configured as the last servo in the CAN bus.
	263
	264	Configure Enable CAN Terminal Resistor (CET)
	265
	266	(% style="color:inherit; font-family:inherit" %)Ex: #5CET1<cr>
	267
	268	(% style="color:inherit; font-family:inherit" %)This commands sets servo with ID 5 as being the last in the CAN Bus. The last servo in a CAN bus must be configured this way.
59.1	269	)))
37.1	270
60.1	271	\|(% colspan="2" %)(((
61.1	272	====== __USB Connection Status__ ======
60.1	273	)))
59.1	274	\|(% style="width:30px" %) \|(((
37.1	275	Query USB Connection Status (QUC)
	276
	277	Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
59.1	278	)))
37.1	279
60.1	280	\|(% colspan="2" %)(((
61.1	281	====== __Firmware Release__ ======
60.1	282	)))
59.1	283	\|(% style="width:30px" %) \|(((
39.1	284	Query Firmware Release (QFR)
	285
	286	Ex: #5QFR<cr> might return *QFR11<cr> meaning it has a (random) firmware release version number 11.
	287
	288	This is used to verify if the firmware on the servos is up to date, or which version is running on the microcontroller.
59.1	289	)))
39.1	290
19.1	291	== Motion ==
	292
62.1	293	\|(% colspan="2" %)(((
	294	====== __Position in Degrees__ ======
	295	)))
	296	\|(% style="width:30px" %) \|(((
	297	Position in Degrees (D)
19.1	298
28.1	299	Example: #5D1456<cr>
19.1	300
28.1	301	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.
19.1	302
28.1	303	Larger values are permitted and allow for multi-turn functionality using the concept of virtual position (explained above).
19.1	304
28.1	305	Query Position in Degrees (QD)
19.1	306
28.1	307	Example: #5QD<cr> might return *5QD132<cr>
19.1	308
28.1	309	This means the servo is located at 13.2 degrees.
19.1	310
28.1	311	Query Target Position in Degrees (QDT)
19.1	312
28.1	313	Ex: #5QDT<cr> might return *5QDT6783<cr>
	314
19.1	315	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.
62.1	316	)))
19.1	317
62.1	318	\|(% colspan="2" %)(((
	319	====== __(Relative) Move in Degrees__ ======
	320	)))
	321	\|(% style="width:30px" %) \|(((
	322	Move in Degrees (MD)
19.1	323
28.1	324	Example: #5MD123<cr>
	325
19.1	326	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.
62.1	327	)))
19.1	328
62.1	329	\|(% colspan="2" %)(((
	330	====== __Wheel Mode in Degrees__ ======
	331	)))
	332	\|(% style="width:30px" %) \|(((
	333	Wheel mode in Degrees (WD)
19.1	334
28.1	335	Ex: #5WD90<cr>
19.1	336
28.1	337	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).
19.1	338
28.1	339	Query Wheel Mode in Degrees (QWD)
19.1	340
28.1	341	Ex: #5QWD<cr> might return *5QWD90<cr>
	342
19.1	343	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).
62.1	344	)))
19.1	345
62.1	346	\|(% colspan="2" %)(((
	347	====== __Wheel Mode in RPM__ ======
	348	)))
	349	\|(% style="width:30px" %) \|(((
	350	Wheel moed in RPM (WR)
19.1	351
28.1	352	Ex: #5WR40<cr>
19.1	353
28.1	354	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).
19.1	355
28.1	356	Query Wheel Mode in RPM (QWR)
19.1	357
28.1	358	Ex: #5QWR<cr> might return *5QWR40<cr>
	359
19.1	360	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).
62.1	361	)))
19.1	362
62.1	363	\|(% colspan="2" %)(((
	364	====== __(Relative) Move in Degrees__ ======
	365	)))
	366	\|(% style="width:30px" %) \|(((
	367	(% class="wikigeneratedid" %)
	368	Move in Degrees (MD)
19.1	369
35.1	370	(% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
	371	Example: #5M1500<cr>
19.1	372
35.1	373	(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
	374	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.
62.1	375	)))
19.1	376
62.1	377	\|(% colspan="2" %)(((
	378	====== __Query Status__ ======
	379	)))
	380	\|(% style="width:30px" %) \|(((
	381	Query Status (Q)
19.1	382
28.1	383	The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
19.1	384
28.1	385	Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
19.1	386
	387	\|(% style="width:25px" %) \|*Value returned (Q)\|Status\|Detailed description
	388	\| \|ex: *5Q0<cr>\|0: Unknown\|LSS is unsure / unknown state
	389	\| \|ex: *5Q1<cr>\|1: Limp\|Motor driving circuit is not powered and horn can be moved freely
	390	\| \|ex: *5Q2<cr>\|2: Free moving\|Servo is rotating in duty motion / free move using the RDM command
	391	\| \|ex: *5Q3<cr>\|3: Accelerating\|Increasing speed from rest (or previous speed) towards travel speed
	392	\| \|ex: *5Q4<cr>\|4: Traveling\|Moving at a stable speed
	393	\| \|ex: *5Q5<cr>\|5: Decelerating\|Decreasing from travel speed towards final position.
64.1	394	\| \|ex: *5Q6<cr>\|6: Holding\|Keeping current position (in EM0 mode, return will normally be holding)
19.1	395	\| \|ex: *5Q7<cr>\|7: Outside limits\|{More details coming soon}
	396	\| \|ex: *5Q8<cr>\|8: Stuck\|Motor cannot perform request movement at current speed setting
	397	\| \|ex: *5Q9<cr>\|9: Blocked\|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
	398	\| \|ex: *5Q10<cr>\|10: Safe Mode\|(((
	399	A safety limit has been exceeded (temperature, peak current or extended high current draw).
	400
	401	Send a Q1 command to know which limit has been reached (described below).
	402	)))
	403
28.1	404	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.
19.1	405
	406	\|(% style="width:25px" %) \|*Value returned (Q1)\|Status\|Detailed description
	407	\| \|ex: *5Q0<cr>\|No limits have been passed\|Nothing is wrong
	408	\| \|ex: *5Q1<cr>\|Current limit has been passed\|Something cause the current to either spike, or remain too high for too long
	409	\| \|ex: *5Q2<cr>\|Input voltage detected is below or above acceptable range\|Check the voltage of your batteries or power source
	410	\| \|ex: *5Q3<cr>\|Temperature limit has been reached\|The servo is too hot to continue operating safely.
62.1	411	)))
19.1	412
62.1	413	\|(% colspan="2" %)(((
	414	====== __Limp__ ======
	415	)))
	416	\|(% style="width:30px" %) \|(((
	417	Limp (L)
19.1	418
28.1	419	Example: #5L<cr>
19.1	420
28.1	421	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>.
62.1	422	)))
28.1	423
62.1	424	\|(% colspan="2" %)(((
	425	====== __Halt & Hold__ ======
	426	)))
	427	\|(% style="width:30px" %) \|(((
	428	Halt & Hold (H)
19.1	429
28.1	430	Example: #5H<cr>
	431
19.1	432	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.)
62.1	433	)))
19.1	434
	435	== Motion Setup ==
	436
29.1	437	====== __Origin Offset (O)__ ======
19.1	438
29.1	439	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).
19.1	440
29.1	441	[[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"]]
19.1	442
	443
29.1	444	In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
19.1	445
29.1	446	[[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"]]
19.1	447
	448
29.1	449	Origin Offset Query (QO)
19.1	450
29.1	451	Example: #5QO<cr> might return *5QO-13
19.1	452
29.1	453	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.
19.1	454
29.1	455	Configure Origin Offset (CO)
19.1	456
29.1	457	Example: #5CO-24<cr>
19.1	458
	459	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.
	460
	461	====== __Angular Range (AR)__ ======
	462
29.1	463	Example: #5AR1800<cr>
19.1	464
29.1	465	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:
19.1	466
29.1	467	[[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"]]
19.1	468
29.1	469	Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
19.1	470
29.1	471	[[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"]]
19.1	472
	473
29.1	474	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:
19.1	475
29.1	476	[[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"]]
19.1	477
	478
29.1	479	Query Angular Range (QAR)
19.1	480
29.1	481	Example: #5QAR<cr> might return *5AR1800, indicating the total angular range is 180.0 degrees.
19.1	482
29.1	483	Configure Angular Range (CAR)
19.1	484
29.1	485	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.
19.1	486
	487	====== __Angular Acceleration (AA)__ ======
	488
29.1	489	The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
19.1	490
29.1	491	Ex: #5AA30<cr>
19.1	492
29.1	493	This sets the angular acceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).
19.1	494
29.1	495	Query Angular Acceleration (QAA)
19.1	496
29.1	497	Ex: #5QAA<cr> might return *5QAA30<cr>
19.1	498
29.1	499	This returns the servo's angular acceleration in degrees per second squared (°/s^^2^^).
19.1	500
29.1	501	Configure Angular Acceleration (CAA)
19.1	502
29.1	503	Ex: #5CAA30<cr>
19.1	504
	505	This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
	506
	507	====== __Angular Deceleration (AD)__ ======
	508
29.1	509	The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
19.1	510
29.1	511	Ex: #5AD30<cr>
19.1	512
29.1	513	This sets the angular deceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).
19.1	514
29.1	515	Query Angular Deceleration (QAD)
19.1	516
29.1	517	Ex: #5QAD<cr> might return *5QAD30<cr>
19.1	518
29.1	519	This returns the servo's angular deceleration in degrees per second squared (°/s^^2^^).
19.1	520
29.1	521	Configure Angular Deceleration (CAD)
19.1	522
29.1	523	Ex: #5CAD30<cr>
19.1	524
29.1	525	This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
19.1	526
	527	====== __Gyre Direction (G)__ ======
	528
29.1	529	"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.
19.1	530
29.1	531	Ex: #5G-1<cr>
19.1	532
29.1	533	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.
19.1	534
47.1	535	Query Gyre Direction (QG)
19.1	536
47.1	537	Ex: #5QG<cr> might return *5QG-1<cr>
	538
29.1	539	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.
19.1	540
29.1	541	Configure Gyre (CG)
19.1	542
29.1	543	Ex: #5CG-1<cr>
19.1	544
	545	This changes the gyre direction as described above and also writes to EEPROM.
	546
	547	====== __First Position__ ======
	548
29.1	549	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>
19.1	550
	551	====== __Maximum Speed in Degrees (SD)__ ======
	552
29.1	553	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:
19.1	554
	555	\|Command sent\|Returned value (1/10 °)
29.1	556	\|ex: #5QSD<cr>\|Session value for maximum speed (set by latest SD/SR command)
	557	\|ex: #5QSD1<cr>\|Configured maximum speed in EEPROM (set by CSD/CSR)
	558	\|ex: #5QSD2<cr>\|Instantaneous speed (same as QWD)
	559	\|ex: #5QSD3<cr>\|Target travel speed
19.1	560
29.1	561	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.
19.1	562
	563	====== __Maximum Speed in RPM (SR)__ ======
	564
29.1	565	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:
19.1	566
	567	\|Command sent\|Returned value (1/10 °)
29.1	568	\|ex: #5QSR<cr>\|Session value for maximum speed (set by latest SD/SR command)
	569	\|ex: #5QSR1<cr>\|Configured maximum speed in EEPROM (set by CSD/CSR)
	570	\|ex: #5QSR2<cr>\|Instantaneous speed (same as QWD)
	571	\|ex: #5QSR3<cr>\|Target travel speed
19.1	572
29.1	573	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.
19.1	574
47.1	575	====== __Step Mode (SM)__ ======
	576
	577	Ex: #8SM2<cr>
	578
	579	This sets servo with ID 8 to 1/2 step mode. Since this is an action as opposed to a configuration, it only affects that session.
	580
	581	Note that the torque and max RPM of the actuator will be affected.
	582
	583	Query Step Mode (QSM)
	584
	585	Ex: #8QSM<cr> might return *8QSM2<cr> meaning servo with ID 8 is set to half step mode.
	586
	587	Configure Step Mode (CSM)
	588
	589	Ex: #8SM2<cr>
	590
	591	This sets servo with ID 8 to 1/2 step mode. Since this is a configuration as opposed to a configuration and the servo will be in 1/2 step mode when powered.
	592
19.1	593	== Modifiers ==
	594
30.1	595	====== __Speed (SD) modifier__ ======
19.1	596
30.1	597	(% class="wikigeneratedid" id="HTimedmove28T29modifier" %)
	598	Example: #5D0SD180<cr>
19.1	599
30.1	600	(% class="wikigeneratedid" %)
	601	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.
19.1	602
30.1	603	(% class="wikigeneratedid" %)
	604	Query Speed (QS)
19.1	605
30.1	606	(% class="wikigeneratedid" %)
	607	Example: #5QS<cr> might return *5QS300<cr>
19.1	608
30.1	609	(% class="wikigeneratedid" %)
	610	This command queries the current speed in microseconds per second.
19.1	611
30.1	612	====== __Timed move (T) modifier__ ======
19.1	613
30.1	614	Example: #5D15000T2500<cr>
19.1	615
30.1	616	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.
19.1	617
30.1	618	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
19.1	619
36.1	620	====== ======
19.1	621
	622	== Telemetry ==
	623
51.1	624	====== __Query PCB Temperature (QT)__ ======
19.1	625
51.1	626	Ex: #5QT<cr> might return *5QT564<cr>
19.1	627
51.1	628	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.
31.1	629
52.1	630	====== __Query Temperature Probe (QTP)__ ======
19.1	631
51.1	632	Ex:
19.1	633
54.1	634	====== __Query Temp of Controller (QTCW)__ ======
19.1	635
51.1	636	Ex:
19.1	637
54.1	638	An alternative is QTCE
	639
51.1	640	====== __Query Current (QC)__ ======
	641
31.1	642	Ex: #5QC<cr> might return *5QC140<cr>
	643
51.1	644	The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A. It represents the RMS value. The query calculates the RMS value of the current sent from the motor driver to the stepper motor.
31.1	645
19.1	646	====== __Query Model String (QMS)__ ======
	647
31.1	648	Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
19.1	649
31.1	650	This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
	651
19.1	652	====== __Query Firmware (QF)__ ======
	653
31.1	654	Ex: #5QF<cr> might return *5QF368<cr>
19.1	655
31.1	656	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
	657
19.1	658	====== __Query Serial Number (QN)__ ======
	659
31.1	660	Ex: #5QN<cr> might return *5QN12345678<cr>
19.1	661
31.1	662	The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
49.1	663
54.1	664	====== __Query IMU Linear (QIX QIY QIZ)__ ======
49.1	665
50.1	666	Ex: #6QIX<cr> might return *6QIX30<cr>
49.1	667
50.1	668	This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
49.1	669
56.1	670	====== __Query IMU Angular (QIA QIB QIC)__ ======
49.1	671
	672	Ex: #6QIB<cr> might return *6QIB44<cr>
	673
	674	This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
	675
	676

Wiki source code of LSS-P - Communication Protocol

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