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462	462
463	463	== Modifiers ==
464	464
465		-====== __Speed (**SD**) modifier__ ======
	465	+====== __Speed (**S**, **SD**) modifier__ ======
466	466
467		-(% class="wikigeneratedid" id="HTimedmove28T29modifier" %)
468		-Example: #5D0SD180<cr>
	467	+{{html clean="false" wiki="true"}}
	468	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	469	+Example: #5P1500S750&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	470	+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>
	471	+Example: #5D0SD180&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	472	+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>
	473	+Query Speed (**QS**)<div class="wikimodel-emptyline"></div>
	474	+Example: #5QS&lt;cr&gt; might return *5QS300&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	475	+This command queries the current speed in microseconds per second.<div class="wikimodel-emptyline"></div>
	476	+</div></div>
	477	+{{/html}}
469	469
470		-(% class="wikigeneratedid" %)
471		-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.
	479	+====== __Timed move (**T**) modifier__ ======
472	472
473		-(% class="wikigeneratedid" %)
474		-Query Speed (**QS**)
	481	+{{html wiki="true" clean="false"}}
	482	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	483	+Example: #5P1500T2500&lt;cr&gt;<div class="wikimodel-emptyline"></div>
475	475
476		-(% class="wikigeneratedid" %)
477		-Example: #5QS<cr> might return *5QS300<cr>
	485	+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>
	486	+**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>
	487	+</div></div>
	488	+{{/html}}
478	478
479		-(% class="wikigeneratedid" %)
480		-This command queries the current speed in microseconds per second.
	490	+====== __Current Halt & Hold (**CH**) modifier__ ======
481	481
482		-(% class="wikigeneratedid" %)
483		-====== __Timed move (**T**) modifier__ ======
	492	+{{html wiki="true" clean="false"}}
	493	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	494	+Example: #5D1423CH400&lt;cr&gt;<div class="wikimodel-emptyline"></div>
484	484
485		-Example: #5D15000T2500<cr>
	496	+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>
	497	+This modifier can be added to the following actions: D; MD; WD; WR.<div class="wikimodel-emptyline"></div>
	498	+</div></div>
	499	+{{/html}}
486	486
487		-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.
	501	+====== __Current Limp (**CL**) modifier__ ======
488	488
489		-**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
	503	+{{html wiki="true" clean="false"}}
	504	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	505	+Example: #5D1423CL400&lt;cr&gt;<div class="wikimodel-emptyline"></div>
490	490
491		-====== ======
	507	+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>
	508	+This modifier can be added to the following actions: D; MD; WD; WR.<div class="wikimodel-emptyline"></div>
	509	+</div></div>
	510	+{{/html}}
492	492
493	493	== Telemetry ==
494	494