Summary

• Page properties (5 modified, 0 added, 0 removed)

Details

Page properties

Title

...	...	@@ -1,1 +1,1 @@
1		-LSS-P - Communication Protocol
	1	+LSS-PRO Communication Protocol

Parent

...	...	@@ -1,1 +1,1 @@
1		-lynxmotion-smart-servo-pro.WebHome
	1	+ses-pro.lss-pro.WebHome

Author

...	...	@@ -1,1 +1,1 @@
1		-xwiki:XWiki.CBenson
	1	+xwiki:XWiki.ENantel

Hidden

...	...	@@ -1,1 +1,1 @@
1		-true
	1	+false

Content

...	...	@@ -1,7 +5,3 @@
1		-{{warningBox warningText="More information coming soon"/}}
2		-
3		-
4		-
5	5	(% class="wikigeneratedid" id="HTableofContents" %)
6	6	**Page Contents**
7	7
...	...	@@ -95,7 +95,7 @@
95	95
96	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).
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"]]
	94	+[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-positions.jpg||alt="LSS-servo-positions.jpg"]]
99	99
100	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:
101	101
...	...	@@ -120,83 +120,88 @@
120	120
121	121	|(% colspan="8" style="color:orange; font-size:18px" %)[[**Communication Setup**>>||anchor="HCommunicationSetup"]]
122	122	|(% 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**
123		-| |[[**Reset**>>||anchor="HReset"]]|(% style="text-align:center" %)RESET|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Soft reset. See command for details.
124		-| |[[**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
125		-| |[[Firmware **Update** Mode>>||anchor="HUpdate26confirm"]]|(% style="text-align:center" %)UPDATE|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Update firmware. See command for details.
126		-| |[[**Confirm** Changes>>||anchor="HConfirm"]]|(% style="text-align:center" %)CONFIRM|(% style="text-align:center" %) |(% style="text-align:center" %) | | |
127		-| |[[**ID** Number >>||anchor="HIdentificationNumber28ID29"]]|(% 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.
128		-| |[[**E**nable CAN **T**erminal>>||anchor="HConfigureRCMode28CRC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QET|(% style="text-align:center" %)CET| |0 or 1|0: Disable  1: Enable
129		-| |[[**U**SB **C**onnection State>>||anchor="HBaudRate"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QUC|(% style="text-align:center" %) | |0 or 1|0: Not connected 1: Connected
130		-| |**Q**uery **F**irmware **R**elease|(% style="text-align:center" %) |(% style="text-align:center" %)QFR|(% style="text-align:center" %) | | |
	119	+| |[[**Reset**>>||anchor="HReset"]]|(% style="text-align:center" %)RESET|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |Soft reset
	120	+| |[[**Default** Configuration>>||anchor="HDefault"]]|(% style="text-align:center" %)DEFAULT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |Revert to firmware default values
	121	+| |[[Firmware **Update** Mode>>||anchor="HUpdate"]]|(% style="text-align:center" %)UPDATE|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |Update firmware
	122	+| |[[**Confirm** Changes>>||anchor="HConfirm"]]|(% style="text-align:center" %)CONFIRM|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |Confirm the action for some commands
	123	+| |[[**ID** Number >>||anchor="HIDNumber"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QID|(% style="text-align:center" %)CID|(% style="text-align:center" %)0|(% style="text-align:center" %) |Reset required after change. ID 254 is a "broadcast" which all servos respond to.
	124	+| |[[**E**nable CAN **T**erminal>>doc:||anchor="HEnableCANTerminalResistor"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QET|(% style="text-align:center" %)CET|(% style="text-align:center" %)1|(% style="text-align:center" %)0 or 1|0: Disable  1: Enable
	125	+| |[[**U**SB **C**onnection Status>>||anchor="HUSBConnectionStatus"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QUC|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)0 or 1|0: Not connected 1: Connected
131	131
132	132	|(% colspan="8" style="color:orange; font-size:18px" %)[[**Motion**>>||anchor="HMotion"]]
133	133	|(% 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**
134		-| |[[Position in **D**egrees>>||anchor="HPositioninDegrees28D29"]]|(% style="text-align:center" %)D|(% style="text-align:center" %)QD/QDT|(% style="text-align:center" %) | |1/100°|
135		-| |[[**M**ove in **D**egrees (relative)>>||anchor="H28Relative29MoveinDegrees28MD29"]]|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) | |1/100°|
136		-| |[[**W**heel mode in **D**egrees>>||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"
137		-| |[[**W**heel mode in **R**PM>>||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"
138		-| |[[**Q**uery 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
139		-| |[[**L**imp>>||anchor="HLimp28L29"]]|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Removes power from stepper coils
140		-| |[[**H**alt & Hold>>||anchor="HHalt26Hold28H29"]]|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Stops (halts) motion profile and holds last position
	129	+| |[[Position in **D**egrees>>||anchor="HPositioninDegrees"]]|(% style="text-align:center" %)D|(% style="text-align:center" %)QD|(% style="text-align:center" %) | |0.01°|
	130	+| |[[**M**ove in **D**egrees (relative)>>||anchor="HRelativeMoveinDegrees"]]|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) | |0.01°|
	131	+| |[[**W**heel mode in **D**egrees>>||anchor="HWheelModeinDegrees"]]|(% style="text-align:center" %)WD|(% style="text-align:center" %)QWD|(% style="text-align:center" %) | |0.01°/s|A.K.A. "Speed mode" or "Continuous rotation"
	132	+| |[[**W**heel mode in **R**PM>>||anchor="HWheelModeinRPM"]]|(% style="text-align:center" %)WR|(% style="text-align:center" %)QWR|(% style="text-align:center" %) | |RPM|A.K.A. "Speed mode" or "Continuous rotation"
	133	+| |[[**Q**uery Motion Status>>||anchor="HStatus"]]|(% style="text-align:center" %) |(% style="text-align:center" %)Q|(% style="text-align:center" %) | |1 to 8 integer|See command description for details
	134	+| |[[**Q**uery **M**otion **T**ime>>doc:||anchor="HMotionTime"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMT|(% style="text-align:center" %) | |0.01s|
	135	+| |[[**Q**uery **C**urrent **S**peed>>doc:||anchor="HCurrentSpeed"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QCS|(% style="text-align:center" %) | |0.01°/s|
	136	+| |[[**L**imp>>||anchor="HLimp"]]|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Removes power from stepper coils
	137	+| |[[**H**alt & Hold>>doc:||anchor="HHalt26Hold"]]|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Stops (halts) motion and holds last position
141	141
142	142	|(% colspan="8" style="color:orange; font-size:18px" %)[[**Motion Setup**>>||anchor="HMotionSetup"]]
143	143	|(% 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**
144		-| |[[**E**nable **M**otion Profile>>||anchor="HEnableMotionProfile28EM29"]]|(% style="text-align:center" %)EM|(% style="text-align:center" %)QEM|(% style="text-align:center" %)CEM|1| |EM1: trapezoidal motion profile / EM0: no motion profile
145		-| |[[**F**ilter **P**osition **C**ount>>||anchor="HFilterPositionCount28FPC29"]]|(% style="text-align:center" %)FPC|(% style="text-align:center" %)QFPC|(% style="text-align:center" %)CFPC|5| |Affects motion only when motion profile is disabled (EM0)
146		-| |[[**O**rigin Offset>>||anchor="HOriginOffset28O29"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|0|1/10°|
147		-| |[[**A**ngular **R**ange>>||anchor="HAngularRange28AR29"]]|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|1800|1/10°|
148		-| |[[**A**ngular **S**tiffness>>||anchor="HAngularStiffness28AS29"]]|(% style="text-align:center" %)AS|(% style="text-align:center" %)QAS|(% style="text-align:center" %)CAS|0|-4 to +4 integer|Suggested values are between 0 to +4
149		-| |[[**A**ngular **H**olding Stiffness>>||anchor="HAngularHoldingStiffness28AH29"]]|(% style="text-align:center" %)AH|(% style="text-align:center" %)QAH|(% style="text-align:center" %)CAH|4|-10 to +10 integer|
150		-| |[[**A**ngular **A**cceleration>>||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).
151		-| |[[**A**ngular **D**eceleration>>||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).
152		-| |[[**G**yre 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)
153		-| |[[**F**irst Position (**D**eg)>>||anchor="HFirstPosition"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFD|(% style="text-align:center" %)CFD|No value|1/10°|Reset required after change.
154		-| |[[**M**aximum **M**otor **D**uty>>||anchor="HMaximumMotorDuty28MMD29"]]|(% style="text-align:center" %)MMD|(% style="text-align:center" %)QMMD|(% style="text-align:center" %) |1023|255 to 1023 integer|
155		-| |[[Maximum **S**peed in **D**egrees>>||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
156		-| |[[Maximum **S**peed in **R**PM>>||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
	141	+| |[[**O**rigin Offset>>||anchor="HOriginOffset"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|(% style="text-align:center" %)0|(% style="text-align:center" %)0.01°|
	142	+| |[[**A**ngular **R**ange>>||anchor="HAngularRange"]]|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|(% style="text-align:center" %)36000|(% style="text-align:center" %)0.01°|
	143	+| |[[**A**ngular **A**cceleration>>||anchor="HAngularAcceleration"]]|(% style="text-align:center" %)AA|(% style="text-align:center" %)QAA|(% style="text-align:center" %)CAA|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s^2|
	144	+| |[[**A**ngular **D**eceleration>>||anchor="HAngularDeceleration"]]|(% style="text-align:center" %)AD|(% style="text-align:center" %)QAD|(% style="text-align:center" %)CAD|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s^2|
	145	+| |[[**G**yre Direction>>||anchor="HGyreDirection"]]|(% style="text-align:center" %)G|(% style="text-align:center" %)QG|(% style="text-align:center" %)CG|(% style="text-align:center" %)1|(% style="text-align:center" %)1 or -1|Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)
	146	+| |[[**F**irst Position (**D**eg)>>||anchor="HFirstPosition"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFD|(% style="text-align:center" %)CFD|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°|Reset required after change.
	147	+| |[[Maximum **S**peed in **D**egrees>>||anchor="HMaximumSpeedinDegrees"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %)QSD|(% style="text-align:center" %)CSD|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s|SD / CSD overwrites SR / CSR
	148	+| |[[Maximum **S**peed in **R**PM>>||anchor="HMaximumSpeedinRPM"]]|(% style="text-align:center" %)SR|(% style="text-align:center" %)QSR|(% style="text-align:center" %)CSR|(% style="text-align:center" %) |(% style="text-align:center" %)RPM|SR / CSR overwrites SD / CSD
157	157
158	158	|(% colspan="8" style="color:orange; font-size:18px" %)[[**Modifiers**>>||anchor="HModifiers"]]
159	159	|(% 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**
160		-| |[[**S**peed in **D**egrees>>||anchor="HSpeed28S2CSD29modifier"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %) |(% style="text-align:center" %) | |1°/s|For D and MD action commands
161		-| |[[**T**imed move>>||anchor="HTimedmove28T29modifier"]]|(% style="text-align:center" %)T|(% style="text-align:center" %) |(% style="text-align:center" %) | |ms|Time associated with D, MD commands
	152	+| |[[**S**peed in **D**egrees>>doc:||anchor="HSpeed"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %) |(% style="text-align:center" %) | |0.01°/s|For D and MD action commands
	153	+| |[[**T**imed move>>||anchor="HTimedmove"]]|(% style="text-align:center" %)T|(% style="text-align:center" %) |(% style="text-align:center" %) | |ms|Time associated with D, MD commands
162	162
163	163	|(% colspan="8" style="color:orange; font-size:18px" %)[[**Telemetry**>>||anchor="HTelemetry"]]
164	164	|(% 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**
165		-| |[[**Q**uery PCB **T**emperature>>||anchor="HQueryTemperature28QT29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) | |°C|
166		-| |[[**Q**uery **C**urrent>>||anchor="HQueryCurrent28QC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QC|(% style="text-align:center" %) | |mA|Nominal RMS value to stepper motor driver IC.
167		-| |[[**Q**uery **M**odel **S**tring>>||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)
168		-| |[[**Q**uery **F**irmware Version>>||anchor="HQueryFirmware28QF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | | |
169		-| |[[**Q**uery Serial **N**umber>>||anchor="HQuerySerialNumber28QN29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) | | |Returns the unique serial number for the servo
170		-| |**Q**uery **T**emperature **P**robe|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | | |Queries temperature probe fixed to stepper motor
171		-| |**Q**uery **T**emp of **C**ontroller|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW, QTCE|(% style="text-align:center" %) | | |(((
172		-QTCW: Queries the temperature status of the motor controller (pre-warning)
173		-
174		-QTCE: Queries the temperature status of the motor controller (over-temp error)
	157	+| |[[PCB **T**emperature>>doc:||anchor="HTemperaturePCB"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) | |0.1°C|
	158	+| |[[**C**urrent>>doc:||anchor="HCurrent"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QC|(% style="text-align:center" %) | |mA|Nominal RMS value to stepper motor driver IC.
	159	+| |[[**M**odel **S**tring>>doc:||anchor="HModelString"]]|(% 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)
	160	+| |[[**F**irmware Version>>doc:||anchor="HFirmware"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | | |
	161	+| |[[Serial **N**umber>>doc:||anchor="HSerialNumber"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) | | |Returns the unique serial number for the servo
	162	+| |[[**T**emperature **P**robe>>doc:||anchor="HTemperatureProbe"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | |0.1°C|Queries temperature probe fixed to the stepper motor
	163	+| |[[**T**emp of **M**CU>>doc:||anchor="HTemperatureMCU"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTM|(% style="text-align:center" %) | |0.1°C|
	164	+| |[[**T**emp of **C**ontroller **E**rror>>doc:||anchor="HTempControllerError"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCE|(% style="text-align:center" %) | | |(((
	165	+Temperature error status of the motor controller (over-temp error)
175	175	)))
176		-| |**Q**uery **C**urrent **S**peed |(% style="text-align:center" %) |(% style="text-align:center" %)QCS|(% style="text-align:center" %) | | |Queries the motor controller's calculated speed
177		-| |**Q**uery **I**MU Linear **X**|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |mm/s^2|
178		-| |**Q**uery **I**MU Linear **Y**|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |mm/s^2|
179		-| |**Q**uery **I**MU Linear **Z**|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2|
180		-| |**Q**uery **I**MU Angular Accel **α** |(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel α (Alpha)
181		-| |**Q**uery **I**MU Angular Accel **β**|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel β (Beta)
182		-| |**Q**uery **I**MU Angular Accel **γ**|(% style="text-align:center" %) |(% style="text-align:center" %)QIC / QIG|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel γ (Gamma)
	167	+| |[[**T**emp of **C**ontroller **W**arning>>doc:||anchor="HTempControllerWarning"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW|(% style="text-align:center" %) | | |Temperature error status of the motor controller (pre-warning)
	168	+| |[[**E**rror **F**lag>>doc:||anchor="HErrorFlag"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QEF|(% style="text-align:center" %) | | |
	169	+| |[[**I**MU Linear **X**>>doc:||anchor="HIMULinear"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |mm/s^2|
	170	+| |[[**I**MU Linear **Y**>>doc:||anchor="HIMULinear"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |mm/s^2|
	171	+| |[[**I**MU Linear **Z**>>doc:||anchor="HIMULinear"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2|
	172	+| |[[**I**MU Angular Accel **α** >>doc:||anchor="HIMUAngular"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel α (Alpha)
	173	+| |[[**I**MU Angular Accel **β**>>doc:||anchor="HIMUAngular"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel β (Beta)
	174	+| |[[**I**MU Angular Accel **γ**>>doc:||anchor="HIMUAngular"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIG|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel γ (Gamma)
183	183
184	184	|(% colspan="8" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="HRGBLED"]]
185	185	|(% 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**
186	186	| |[[**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
187		-| |[[**C**onfigure **L**ED **B**linking>>||anchor="HConfigureLEDBlinking28CLB29"]]|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)CLB| |0 to 63 integer|Reset required after change. See command for details.
188	188
189	189	= (% style="color:inherit; font-family:inherit" %)Details(%%) =
190	190
191	191	== (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) ==
192	192
193		-====== (% style="color:inherit; font-family:inherit" %)__Reset__(%%) ======
	184	+|(% colspan="2" %)(((
	185	+====== __Reset__ ======
	186	+)))
	187	+| |(((
	188	+Reset (**RESET**)
194	194
195		-(% style="color:inherit; font-family:inherit" %)Ex: #5RESET<cr>
196		-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.
	190	+Ex: #5RESET<cr>
197	197
198		-====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
	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	+)))
199	199
	195	+|(% colspan="2" %)(((
	196	+====== (% style="color:inherit; font-family:inherit" %)__Default__(%%) ======
	197	+)))
	198	+|(% style="width:30px" %) |(((
	199	+(% style="color:inherit; font-family:inherit" %)Default (**DEFAULT**)
	200	+
200	200	(% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
201	201
202	202	(% 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.
...	...	@@ -206,8 +206,13 @@
206	206	(% 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.
207	207
208	208	(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
	210	+)))
209	209
210		-====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
	212	+|(% colspan="2" %)(((
	213	+====== (% style="color:inherit; font-family:inherit" %)__Update__(%%) ======
	214	+)))
	215	+|(% style="width:30px" %) |(((
	216	+(% style="color:inherit; font-family:inherit" %)Update (**UPDATE**)
211	211
212	212	(% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
213	213
...	...	@@ -218,15 +218,25 @@
218	218	(% 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.
219	219
220	220	(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
	227	+)))
221	221
	229	+|(% colspan="2" %)(((
222	222	====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
	231	+)))
	232	+|(% style="width:30px" %) |(((
	233	+(% style="color:inherit; font-family:inherit" %)Confirm (**CONFIRM**)
223	223
224	224	(% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
225	225
226	226	(% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
227	227	Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
	239	+)))
228	228
229		-====== (% style="color:inherit; font-family:inherit" %)__ID Number (**ID**)__(%%) ======
	241	+|(% colspan="2" %)(((
	242	+====== (% style="color:inherit; font-family:inherit" %)__ID Number__(%%) ======
	243	+)))
	244	+|(% style="width:30px" %) |(((
	245	+This assigns ID #5 to the servo previously assigned to ID 0
230	230
231	231	(% style="color:inherit; font-family:inherit" %)Configure ID Number (**CID**)
232	232
...	...	@@ -239,9 +239,12 @@
239	239	Ex: #254QID<cr> might return *254QID5<cr>
240	240
241	241	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.
	258	+)))
242	242
243		-(% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor (**ET**)__
244		-
	260	+|(% colspan="2" %)(((
	261	+====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor__(%%) ======
	262	+)))
	263	+|(% style="width:30px" %) |(((
245	245	Query Enable CAN Terminal Resistor (**QET**)
246	246
247	247	Ex: #5QET<cr> might return *QET0<cr>
...	...	@@ -253,24 +253,24 @@
253	253	(% style="color:inherit; font-family:inherit" %)Ex: #5CET1<cr>
254	254
255	255	(% 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.
	275	+)))
256	256
257		-====== __USB Connection Status (**UC**)__ ======
258		-
	277	+|(% colspan="2" %)(((
	278	+====== __USB Connection Status__ ======
	279	+)))
	280	+|(% style="width:30px" %) |(((
259	259	Query USB Connection Status (**QUC**)
260	260
261	261	Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
	284	+)))
262	262
263		-====== __Firmware Release (**FR**)__ ======
264		-
265		-Query Firmware Release (**QFR**)
266		-
267		-Ex: #5QFR<cr> might return *QFR11<cr> meaning it has a (random) firmware release version number 11.
268		-
269		-This is used to verify if the firmware on the servos is up to date, or which version is running on the microcontroller.
270		-
271	271	== Motion ==
272	272
273		-====== __Position in Degrees (**D**)__ ======
	288	+|(% colspan="2" %)(((
	289	+====== __Position in Degrees__ ======
	290	+)))
	291	+|(% style="width:30px" %) |(((
	292	+Position in Degrees (**D**)
274	274
275	275	Example: #5D1456<cr>
276	276
...	...	@@ -289,16 +289,28 @@
289	289	Ex: #5QDT<cr> might return *5QDT6783<cr>
290	290
291	291	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.
	311	+)))
292	292
293		-====== __(Relative) Move in Degrees (**MD**)__ ======
	313	+|(% colspan="2" %)(((
	314	+====== __Relative Move in Degrees__ ======
	315	+)))
	316	+|(% style="width:30px" %) |(((
	317	+(% class="wikigeneratedid" %)
	318	+Move in Degrees (**MD**)
294	294
	320	+(% class="wikigeneratedid" %)
	321	+Example: #5M1500<cr>
295	295
296		-Example: #5MD123<cr>
	323	+(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
	324	+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.
	325	+)))
297	297
298		-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.
	327	+|(% colspan="2" %)(((
	328	+====== __Wheel Mode in Degrees__ ======
	329	+)))
	330	+|(% style="width:30px" %) |(((
	331	+Wheel mode in Degrees (**WD**)
299	299
300		-====== __Wheel Mode in Degrees (**WD**)__ ======
301		-
302	302	Ex: #5WD90<cr>
303	303
304	304	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).
...	...	@@ -308,8 +308,13 @@
308	308	Ex: #5QWD<cr> might return *5QWD90<cr>
309	309
310	310	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).
	342	+)))
311	311
312		-====== __Wheel Mode in RPM (**WR**)__ ======
	344	+|(% colspan="2" %)(((
	345	+====== __Wheel Mode in RPM__ ======
	346	+)))
	347	+|(% style="width:30px" %) |(((
	348	+Wheel moed in RPM (**WR**)
313	313
314	314	Ex: #5WR40<cr>
315	315
...	...	@@ -320,17 +320,14 @@
320	320	Ex: #5QWR<cr> might return *5QWR40<cr>
321	321
322	322	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).
	359	+)))
323	323
324		-====== __(Relative) Move in Degrees (**MD**)__ ======
	361	+|(% colspan="2" %)(((
	362	+====== __Status__ ======
	363	+)))
	364	+|(% style="width:30px" %) |(((
	365	+Query Status (**Q**)
325	325
326		-(% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
327		-Example: #5M1500<cr>
328		-
329		-(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
330		-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.
331		-
332		-====== __Query Status (**Q**)__ ======
333		-
334	334	The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
335	335
336	336	Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
...	...	@@ -342,7 +342,7 @@
342	342	| |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
343	343	| |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
344	344	| |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
345		-| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will nornally be holding)
	378	+| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will normally be holding)
346	346	| |ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
347	347	| |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
348	348	| |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
...	...	@@ -359,31 +359,54 @@
359	359	| |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
360	360	| |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
361	361	| |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
	395	+)))
362	362
363		-====== __Limp (**L**)__ ======
	397	+|(% colspan="2" %)(((
	398	+====== __Motion Time__ ======
	399	+)))
	400	+|(% style="width:30px" %) |(((
	401	+Query Motion Time (**QMT**)
	402	+)))
364	364
	404	+|(% colspan="2" %)(((
	405	+====== __Current Speed__ ======
	406	+)))
	407	+|(% style="width:30px" %) |(((
	408	+Query Current Speed (**QCS**)
	409	+)))
	410	+
	411	+|(% colspan="2" %)(((
	412	+====== __Limp__ ======
	413	+)))
	414	+|(% style="width:30px" %) |(((
365	365	Example: #5L<cr>
366	366
367	367	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>.
	418	+)))
368	368
369		-====== __Halt & Hold (**H**)__ ======
370		-
	420	+|(% colspan="2" %)(((
	421	+====== __Halt & Hold__ ======
	422	+)))
	423	+|(% style="width:30px" %) |(((
371	371	Example: #5H<cr>
372	372
373	373	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.)
	427	+)))
374	374
375	375	== Motion Setup ==
376	376
377		-====== __Origin Offset (**O**)__ ======
378		-
	431	+|(% colspan="2" %)(((
	432	+====== __Origin Offset__ ======
	433	+)))
	434	+|(% style="width:30px" %) |(((
379	379	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).
380	380
381		-[[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"]]
	437	+[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]
382	382
383	383
384	384	In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
385	385
386		-[[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"]]
	442	+[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-origin.jpg||alt="LSS-servo-origin.jpg"]]
387	387
388	388
389	389	Origin Offset Query (**QO**)
...	...	@@ -397,23 +397,26 @@
397	397	Example: #5CO-24<cr>
398	398
399	399	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.
	456	+)))
400	400
401		-====== __Angular Range (**AR**)__ ======
402		-
	458	+|(% colspan="2" %)(((
	459	+====== __Angular Range__ ======
	460	+)))
	461	+|(% style="width:30px" %) |(((
403	403	Example: #5AR1800<cr>
404	404
405	405	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:
406	406
407		-[[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"]]
	466	+[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]
408	408
409	409	Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
410	410
411		-[[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"]]
	470	+[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar.jpg||alt="LSS-servo-ar.jpg"]]
412	412
413	413
414	414	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:
415	415
416		-[[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"]]
	475	+[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar-o-1.jpg||alt="LSS-servo-ar-o-1.jpg"]]
417	417
418	418
419	419	Query Angular Range (**QAR**)
...	...	@@ -423,9 +423,12 @@
423	423	Configure Angular Range (**CAR**)
424	424
425	425	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.
	485	+)))
426	426
427		-====== __Angular Acceleration (**AA**)__ ======
428		-
	487	+|(% colspan="2" %)(((
	488	+====== __Angular Acceleration__ ======
	489	+)))
	490	+|(% style="width:30px" %) |(((
429	429	The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
430	430
431	431	Ex: #5AA30<cr>
...	...	@@ -443,9 +443,12 @@
443	443	Ex: #5CAA30<cr>
444	444
445	445	This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
	508	+)))
446	446
447		-====== __Angular Deceleration (**AD**)__ ======
448		-
	510	+|(% colspan="2" %)(((
	511	+====== __Angular Deceleration__ ======
	512	+)))
	513	+|(% style="width:30px" %) |(((
449	449	The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
450	450
451	451	Ex: #5AD30<cr>
...	...	@@ -463,9 +463,12 @@
463	463	Ex: #5CAD30<cr>
464	464
465	465	This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
	531	+)))
466	466
467		-====== __Gyre Direction (**G**)__ ======
468		-
	533	+|(% colspan="2" %)(((
	534	+====== __Gyre Direction__ ======
	535	+)))
	536	+|(% style="width:30px" %) |(((
469	469	"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.
470	470
471	471	Ex: #5G-1<cr>
...	...	@@ -472,8 +472,10 @@
472	472
473	473	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.
474	474
475		-Query Gyre Direction (**QG**)Ex: #5QG<cr> might return *5QG-1<cr>
	543	+Query Gyre Direction (**QG**)
476	476
	545	+Ex: #5QG<cr> might return *5QG-1<cr>
	546	+
477	477	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.
478	478
479	479	Configure Gyre (**CG**)
...	...	@@ -481,15 +481,43 @@
481	481	Ex: #5CG-1<cr>
482	482
483	483	This changes the gyre direction as described above and also writes to EEPROM.
	554	+)))
484	484
	556	+|(% colspan="2" %)(((
485	485	====== __First Position__ ======
	558	+)))
	559	+|(% style="width:30px" %) |(((
	560	+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.
486	486
487		-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>
	562	+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.
488	488
489		-====== __Maximum Speed in Degrees (**SD**)__ ======
	564	+Query First Position in Degrees (**QFD**)
490	490
491		-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:
	566	+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.
492	492
	568	+Configure First Position in Degrees (**CFD**)
	569	+
	570	+Ex: #5CFD900<cr>
	571	+
	572	+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>
	573	+)))
	574	+
	575	+|(% colspan="2" %)(((
	576	+====== __Maximum Speed in Degrees__ ======
	577	+)))
	578	+|(% style="width:30px" %) |(((
	579	+Maximum Speed in Degrees (**SD**)
	580	+
	581	+Ex: #5SD1800<cr>
	582	+
	583	+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.
	584	+
	585	+Query Speed in Degrees (**QSD**)
	586	+
	587	+Ex: #5QSD<cr> might return *5QSD1800<cr>
	588	+
	589	+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:
	590	+
493	493	|**Command sent**|**Returned value (1/10 °)**
494	494	|ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
495	495	|ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
...	...	@@ -496,12 +496,41 @@
496	496	|ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
497	497	|ex: #5QSD3<cr>|Target travel speed
498	498
499		-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.
	597	+Configure Speed in Degrees (**CSD**)
500	500
501		-====== __Maximum Speed in RPM (**SR**)__ ======
	599	+Ex: #5CSD1800<cr>
502	502
503		-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:
	601	+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.
	602	+)))
504	504
	604	+|(% colspan="2" %)(((
	605	+====== __Maximum Speed in RPM__ ======
	606	+)))
	607	+|(% style="width:30px" %) |(((
	608	+(% class="wikigeneratedid" %)
	609	+Maximum Speed in RPM (**SR**)
	610	+
	611	+(% class="wikigeneratedid" id="HEx:235SR453Ccr3EThiscommandsetstheservo27smaximumspeedformotioncommandsinrpmforthatsession.Intheexampleabove2Ctheservo27smaximumspeedforthatsessionwouldbesetto45rpm.Theservo27smaximumspeedcannotbesethigherthanitsphysicallimitatagivenvoltage.SRoverridesCSR28describedbelow29forthatsession.Uponresetorpowercycle2CtheservorevertstothevalueassociatedwithCSRasdescribedbelow.NotethatSD28describedabove29andSRareeffectivelythesame2Cbutallowtheusertospecifythespeedineitherunit.Thelastcommand28eitherSRorSD29receivediswhattheservousesforthatsession.QuerySpeedinRPM28QSR29Ex:235QSR3Ccr3Emightreturn2A5QSR453Ccr3EBydefaultQSRwillreturnthecurrentsessionvalue2CwhichissettothevalueofCSRasreset2FpowercycleandchangedwheneveranSD2FSRcommandisprocessed.If235QSR13Ccr3Eissent2Ctheconfiguredmaximumspeed28CSRvalue29willbereturnedinstead.Youcanalsoquerythecurrentspeedusing22222andthecurrenttargettravelspeedusing22322.Seethetablebelowforanexample:" %)
	612	+Ex: #5SR45<cr>
	613	+
	614	+(% class="wikigeneratedid" %)
	615	+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.
	616	+
	617	+(% class="wikigeneratedid" %)
	618	+Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit.
	619	+
	620	+(% class="wikigeneratedid" %)
	621	+The last command (either SR or SD) received is what the servo uses for that session.
	622	+
	623	+(% class="wikigeneratedid" %)
	624	+Query Speed in RPM (**QSR**)
	625	+
	626	+(% class="wikigeneratedid" %)
	627	+Ex: #5QSR<cr> might return *5QSR45<cr>
	628	+
	629	+(% class="wikigeneratedid" %)
	630	+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:
	631	+
505	505	|**Command sent**|**Returned value (1/10 °)**
506	506	|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
507	507	|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
...	...	@@ -508,13 +508,23 @@
508	508	|ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
509	509	|ex: #5QSR3<cr>|Target travel speed
510	510
511		-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.
	638	+Configure Speed in RPM (**CSR**)
512	512
	640	+Ex: #5CSR45<cr>
	641	+
	642	+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.
	643	+)))
	644	+
513	513	== Modifiers ==
514	514
515		-====== __Speed (**SD**) modifier__ ======
	647	+|(% colspan="2" %)(((
	648	+====== __Speed __ ======
	649	+)))
	650	+|(% style="width:30px" %) |(((
	651	+(% class="wikigeneratedid" %)
	652	+Speed in Degrees (**SD**)
516	516
517		-(% class="wikigeneratedid" id="HTimedmove28T29modifier" %)
	654	+(% class="wikigeneratedid" id="HExample:235D0SD1803Ccr3E" %)
518	518	Example: #5D0SD180<cr>
519	519
520	520	(% class="wikigeneratedid" %)
...	...	@@ -528,8 +528,13 @@
528	528
529	529	(% class="wikigeneratedid" %)
530	530	This command queries the current speed in microseconds per second.
	668	+)))
531	531
532		-====== __Timed move (**T**) modifier__ ======
	670	+|(% colspan="2" %)(((
	671	+====== __Timed move__ ======
	672	+)))
	673	+|(% style="width:30px" %) |(((
	674	+Timed Move (**T**)
533	533
534	534	Example: #5D15000T2500<cr>
535	535
...	...	@@ -536,43 +536,129 @@
536	536	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.
537	537
538	538	**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
	681	+)))
539	539
540		-====== ======
541		-
542	542	== Telemetry ==
543	543
544		-====== __Query Voltage (**QV**)__ ======
	685	+|(% colspan="2" %)(((
	686	+====== __Temperature PCB__ ======
	687	+)))
	688	+|(% style="width:30px" %) |(((
	689	+Query Temp PCB (**QT**)
545	545
546		-Ex: #5QV<cr> might return *5QV11200<cr>
547		-
548		-The number returned is in milliVolts, so in the case above, servo with ID 5 has an input voltage of 11.2V.
549		-
550		-====== __Query Temperature (**QT**)__ ======
551		-
552	552	Ex: #5QT<cr> might return *5QT564<cr>
553	553
554	554	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.
	694	+)))
555	555
556		-====== __Query Motor Driver Current (**QC**)__ ======
	696	+|(% colspan="2" %)(((
	697	+====== __Current__ ======
	698	+)))
	699	+|(% style="width:30px" %) |(((
	700	+(% class="wikigeneratedid" %)
	701	+Query Current (**QC**)
557	557
	703	+(% class="wikigeneratedid" id="HEx:235QC3Ccr3Emightreturn2A5QC1403Ccr3E" %)
558	558	Ex: #5QC<cr> might return *5QC140<cr>
559	559
560		-The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A. It represents the RMS value.
	706	+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.
	707	+)))
561	561
562		-====== __Query Model String (**QMS**)__ ======
	709	+|(% colspan="2" %)(((
	710	+====== __Model String__ ======
	711	+)))
	712	+|(% style="width:30px" %) |(((
	713	+(% class="wikigeneratedid" %)
	714	+Query Model String (**QMS**)
563	563
	716	+(% class="wikigeneratedid" id="HEx:235QMS3Ccr3Emightreturn2A5QMSLSS-HS13Ccr3E" %)
564	564	Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
565	565
566	566	This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
	720	+)))
567	567
568		-====== __Query Firmware (**QF**)__ ======
	722	+|(% colspan="2" %)(((
	723	+====== __Firmware__ ======
	724	+)))
	725	+|(% style="width:30px" %) |(((
	726	+Query Firmware (**QF**)
569	569
570	570	Ex: #5QF<cr> might return *5QF368<cr>
571	571
572	572	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
	731	+)))
573	573
574		-====== __Query Serial Number (**QN**)__ ======
	733	+|(% colspan="2" %)(((
	734	+====== __Serial Number__ ======
	735	+)))
	736	+|(% style="width:30px" %) |(((
	737	+(% class="wikigeneratedid" %)
	738	+Query Serial Number (**QN**)
575	575
	740	+(% class="wikigeneratedid" id="HEx:235QN3Ccr3Emightreturn2A5QN123456783Ccr3E" %)
576	576	Ex: #5QN<cr> might return *5QN12345678<cr>
577	577
578	578	The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
	744	+)))
	745	+
	746	+|(% colspan="2" %)(((
	747	+====== __Temperature Probe__ ======
	748	+)))
	749	+|(% style="width:30px" %) |(((
	750	+Query Temp motor Probe (**QTP**)
	751	+)))
	752	+
	753	+|(% colspan="2" %)(((
	754	+====== __Temperature MCU__ ======
	755	+)))
	756	+|(% style="width:30px" %) |(((
	757	+Query Temp MCU (**QTM**)
	758	+)))
	759	+
	760	+|(% colspan="2" %)(((
	761	+====== __Temp Controller Error__ ======
	762	+)))
	763	+|(% style="width:30px" %) |(((
	764	+(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
	765	+Query Temp Controller Error (**QTCE**)
	766	+)))
	767	+
	768	+|(% colspan="2" %)(((
	769	+====== __Temp Controller Warning__ ======
	770	+)))
	771	+|(% style="width:30px" %) |(((
	772	+(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
	773	+Query Temp Controller Warning (**QTCW**)
	774	+)))
	775	+
	776	+|(% colspan="2" %)(((
	777	+====== __Error Flag__ ======
	778	+)))
	779	+|(% style="width:30px" %) |(((
	780	+Query Error Flag (**QEF**)
	781	+)))
	782	+
	783	+|(% colspan="2" %)(((
	784	+====== __IMU Linear__ ======
	785	+)))
	786	+|(% style="width:30px" %) |(((
	787	+(% class="wikigeneratedid" %)
	788	+Query IMU Linear (**QIX QIY QIZ**)
	789	+
	790	+====== Ex: #6QIX<cr> might return *6QIX30<cr> ======
	791	+
	792	+This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
	793	+)))
	794	+
	795	+|(% colspan="2" %)(((
	796	+====== __IMU Angular__ ======
	797	+)))
	798	+|(% style="width:30px" %) |(((
	799	+(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
	800	+Query IMU Angular (**QIA QIB QIG**)
	801	+Ex: #6QIB<cr> might return *6QIB44<cr>
	802	+
	803	+This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
	804	+)))
	805	+
	806	+