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14	14
15	15	= Action Commands =
16	16
17		-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's Rx pin and must be sent in the following format:
	17	+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:
18	18
19	19	1. Start with a number sign **#** (Unicode Character: U+0023)
20	20	1. Servo ID number as an integer (assigning an ID described below)
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29	29
30	30	== Modifiers ==
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32		-{{html clean="false" wiki="true" __cke_selected_macro="true"}}
	32	+{{html clean="false" wiki="true"}}
33	33	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
34	34	Modifiers can only be used with certain **action commands**. The format to include a modifier is:<div class="wikimodel-emptyline"></div>
35	35
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46	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	47	<div class="wikimodel-emptyline"></div></div></div>
48	48
	49	+<h2>Queries</h2>
49	49	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
50	50	Query commands request information from the servo. They are received via the Rx pin of the servo, and the servo's reply is sent via the servo's Tx pin. Using separate lines for Tx and Rx is called "full duplex". Query commands are also similar to action and configuration commands and must use the following format:<div class="wikimodel-emptyline"></div>
51	51