Summary

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

Details

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Title

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1		-LSS-P - Communication Protocol
	1	+LSS-PRO Communication Protocol

Parent

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

Author

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

Hidden

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1		-true
	1	+false

Content

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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
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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="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.
128		-| |[[**E**nable CAN **T**erminal>>doc:||anchor="HEnableCANTerminalResistor28ET29"]]|(% 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 Status>>||anchor="HUSBConnectionStatus28UC29"]]|(% 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>>doc:||anchor="HFirmwareRelease28FR29"]]|(% 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		-| |[[**O**rigin Offset>>||anchor="HOriginOffset28O29"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|0|1/10°|
145		-| |[[**A**ngular **R**ange>>||anchor="HAngularRange28AR29"]]|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|1800|1/10°|
146		-| |[[**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).
147		-| |[[**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).
148		-| |[[**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)
149		-| |[[**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.
150		-| |[[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
151		-| |[[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
152		-| |[[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
	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	+| |[[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
	147	+| |[[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
153	153
154	154	|(% colspan="8" style="color:orange; font-size:18px" %)[[**Modifiers**>>||anchor="HModifiers"]]
155	155	|(% 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**
156		-| |[[**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
157		-| |[[**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
	151	+| |[[**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
	152	+| |[[**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
158	158
159	159	|(% colspan="8" style="color:orange; font-size:18px" %)[[**Telemetry**>>||anchor="HTelemetry"]]
160		-|(% 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**
161		-| |[[**Q**uery PCB **T**emperature>>||anchor="HQueryTemperature28QT29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) | |°C|
162		-| |[[**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.
163		-| |[[**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)
164		-| |[[**Q**uery **F**irmware Version>>||anchor="HQueryFirmware28QF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | | |
165		-| |[[**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
166		-| |**Q**uery **T**emperature **P**robe|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | | |Queries temperature probe fixed to the stepper motor
167		-| |**Q**uery **T**emp of **M**CU|(% style="text-align:center" %) |(% style="text-align:center" %)QTM|(% style="text-align:center" %) | | |
168		-| |**Q**uery **T**emp of **C**ontroller|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW, QTCE|(% style="text-align:center" %) | | |(((
169		-QTCW: Queries the temperature status of the motor controller (pre-warning)
170		-
171		-QTCE: Queries the temperature status of the motor controller (over-temp error)
	155	+|(% 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="text-align:center; width:100px" %)**Default**|(% style="text-align:center; width:170px" %)**Unit**|**Notes**
	156	+| |[[PCB **T**emperature>>doc:||anchor="HTemperaturePCB"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) | |(% style="text-align:center" %)0.1°C|
	157	+| |[[**C**urrent>>doc:||anchor="HCurrent"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QC|(% style="text-align:center" %) | |(% style="text-align:center" %)mA|Nominal RMS value to stepper motor driver IC.
	158	+| |[[**M**odel **S**tring>>doc:||anchor="HModelString"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMS|(% style="text-align:center" %) | |(% style="text-align:center" %) |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)
	159	+| |[[**F**irmware Version>>doc:||anchor="HFirmware"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | |(% style="text-align:center" %) |
	160	+| |[[Serial **N**umber>>doc:||anchor="HSerialNumber"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) | |(% style="text-align:center" %) |Returns the unique serial number for the servo
	161	+| |[[**T**emperature **P**robe>>doc:||anchor="HTemperatureProbe"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | |(% style="text-align:center" %)0.1°C|Queries temperature probe fixed to the stepper motor
	162	+| |[[**T**emp of **M**CU>>doc:||anchor="HTemperatureMCU"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTM|(% style="text-align:center" %) | |(% style="text-align:center" %)0.1°C|
	163	+| |[[**T**emp of **C**ontroller **E**rror>>doc:||anchor="HTempControllerError"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCE|(% style="text-align:center" %) | |(% style="text-align:center" %) |(((
	164	+Temperature error status of the motor controller (over-temp error)
172	172	)))
173		-| |**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
174		-| |**Q**uery **I**MU Linear **X**|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |mm/s^2|
175		-| |**Q**uery **I**MU Linear **Y**|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |mm/s^2|
176		-| |**Q**uery **I**MU Linear **Z**|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2|
177		-| |**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)
178		-| |**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)
179		-| |**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)
	166	+| |[[**T**emp of **C**ontroller **W**arning>>doc:||anchor="HTempControllerWarning"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW|(% style="text-align:center" %) | |(% style="text-align:center" %) |Temperature error status of the motor controller (pre-warning)
	167	+| |[[**E**rror **F**lag>>doc:||anchor="HErrorFlag"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QEF|(% style="text-align:center" %) | |(% style="text-align:center" %) |
	168	+| |[[**I**MU Linear **X**>>doc:||anchor="HIMULinear"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |(% style="text-align:center" %)mm/s^2|
	169	+| |[[**I**MU Linear **Y**>>doc:||anchor="HIMULinear"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |(% style="text-align:center" %)mm/s^2|
	170	+| |[[**I**MU Linear **Z**>>doc:||anchor="HIMULinear"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |(% style="text-align:center" %)mm/s^2|
	171	+| |[[**I**MU Angular Accel **α** >>doc:||anchor="HIMUAngular"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |(% style="text-align:center" %)°/s^2|Query IMU Angular Accel α (Alpha)
	172	+| |[[**I**MU Angular Accel **β**>>doc:||anchor="HIMUAngular"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |(% style="text-align:center" %)°/s^2|Query IMU Angular Accel β (Beta)
	173	+| |[[**I**MU Angular Accel **γ**>>doc:||anchor="HIMUAngular"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIG|(% style="text-align:center" %) | |(% style="text-align:center" %)°/s^2|Query IMU Angular Accel γ (Gamma)
180	180
181	181	|(% colspan="8" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="HRGBLED"]]
182		-|(% 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**
183		-| |[[**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
	176	+|(% 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="text-align:center; width:100px" %)**Default**|(% style="text-align:center; width:170px" %)**Unit**|**Notes**
	177	+| |[[**LED** Color>>||anchor="HLEDColor"]]|(% style="text-align:center" %)LED|(% style="text-align:center" %)QLED|(% style="text-align:center" %)CLED|(% style="text-align:center" %)3|(% style="text-align:center" %)0 to 7 integer|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White
	178	+| |[[**L**ED **B**linking>>doc:||anchor="HLEDBlinking"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QLB|(% style="text-align:center" %)CLB|(% style="text-align:center" %)0|(% style="text-align:center" %) |
	179	+| |[[**L**ED **I**ndicator>>doc:||anchor="HLEDIndicator"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QLI|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |
184	184
185	185	= (% style="color:inherit; font-family:inherit" %)Details(%%) =
186	186
187	187	== (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) ==
188	188
189		-====== (% style="color:inherit; font-family:inherit" %)__Reset__(%%) ======
	185	+|(% colspan="2" %)(((
	186	+====== __Reset__ ======
	187	+)))
	188	+| |(((
	189	+Reset (**RESET**)
190	190
191		-(% style="color:inherit; font-family:inherit" %)Ex: #5RESET<cr>
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.
	191	+Ex: #5RESET<cr>
193	193
194		-====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
	193	+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.
	194	+)))
195	195
	196	+|(% colspan="2" %)(((
	197	+====== (% style="color:inherit; font-family:inherit" %)__Default__(%%) ======
	198	+)))
	199	+|(% style="width:30px" %) |(((
	200	+(% style="color:inherit; font-family:inherit" %)Default (**DEFAULT**)
	201	+
196	196	(% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
197	197
198	198	(% 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.
...	...	@@ -202,8 +202,13 @@
202	202	(% 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.
203	203
204	204	(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
	211	+)))
205	205
206		-====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
	213	+|(% colspan="2" %)(((
	214	+====== (% style="color:inherit; font-family:inherit" %)__Update__(%%) ======
	215	+)))
	216	+|(% style="width:30px" %) |(((
	217	+(% style="color:inherit; font-family:inherit" %)Update (**UPDATE**)
207	207
208	208	(% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
209	209
...	...	@@ -214,15 +214,25 @@
214	214	(% 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.
215	215
216	216	(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
	228	+)))
217	217
	230	+|(% colspan="2" %)(((
218	218	====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
	232	+)))
	233	+|(% style="width:30px" %) |(((
	234	+(% style="color:inherit; font-family:inherit" %)Confirm (**CONFIRM**)
219	219
220	220	(% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
221	221
222	222	(% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
223	223	Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
	240	+)))
224	224
225		-====== (% style="color:inherit; font-family:inherit" %)__ID Number (**ID**)__(%%) ======
	242	+|(% colspan="2" %)(((
	243	+====== (% style="color:inherit; font-family:inherit" %)__ID Number__(%%) ======
	244	+)))
	245	+|(% style="width:30px" %) |(((
	246	+This assigns ID #5 to the servo previously assigned to ID 0
226	226
227	227	(% style="color:inherit; font-family:inherit" %)Configure ID Number (**CID**)
228	228
...	...	@@ -235,9 +235,12 @@
235	235	Ex: #254QID<cr> might return *254QID5<cr>
236	236
237	237	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.
	259	+)))
238	238
239		-====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor (**ET**)__(%%) ======
240		-
	261	+|(% colspan="2" %)(((
	262	+====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor__(%%) ======
	263	+)))
	264	+|(% style="width:30px" %) |(((
241	241	Query Enable CAN Terminal Resistor (**QET**)
242	242
243	243	Ex: #5QET<cr> might return *QET0<cr>
...	...	@@ -249,24 +249,24 @@
249	249	(% style="color:inherit; font-family:inherit" %)Ex: #5CET1<cr>
250	250
251	251	(% 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.
	276	+)))
252	252
253		-====== __USB Connection Status (**UC**)__ ======
254		-
	278	+|(% colspan="2" %)(((
	279	+====== __USB Connection Status__ ======
	280	+)))
	281	+|(% style="width:30px" %) |(((
255	255	Query USB Connection Status (**QUC**)
256	256
257	257	Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
	285	+)))
258	258
259		-====== __Firmware Release (**FR**)__ ======
260		-
261		-Query Firmware Release (**QFR**)
262		-
263		-Ex: #5QFR<cr> might return *QFR11<cr> meaning it has a (random) firmware release version number 11.
264		-
265		-This is used to verify if the firmware on the servos is up to date, or which version is running on the microcontroller.
266		-
267	267	== Motion ==
268	268
269		-====== __Position in Degrees (**D**)__ ======
	289	+|(% colspan="2" %)(((
	290	+====== __Position in Degrees__ ======
	291	+)))
	292	+|(% style="width:30px" %) |(((
	293	+Position in Degrees (**D**)
270	270
271	271	Example: #5D1456<cr>
272	272
...	...	@@ -285,16 +285,28 @@
285	285	Ex: #5QDT<cr> might return *5QDT6783<cr>
286	286
287	287	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.
	312	+)))
288	288
289		-====== __(Relative) Move in Degrees (**MD**)__ ======
	314	+|(% colspan="2" %)(((
	315	+====== __Relative Move in Degrees__ ======
	316	+)))
	317	+|(% style="width:30px" %) |(((
	318	+(% class="wikigeneratedid" %)
	319	+Move in Degrees (**MD**)
290	290
	321	+(% class="wikigeneratedid" %)
	322	+Example: #5M1500<cr>
291	291
292		-Example: #5MD123<cr>
	324	+(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
	325	+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.
	326	+)))
293	293
294		-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.
	328	+|(% colspan="2" %)(((
	329	+====== __Wheel Mode in Degrees__ ======
	330	+)))
	331	+|(% style="width:30px" %) |(((
	332	+Wheel mode in Degrees (**WD**)
295	295
296		-====== __Wheel Mode in Degrees (**WD**)__ ======
297		-
298	298	Ex: #5WD90<cr>
299	299
300	300	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).
...	...	@@ -304,8 +304,13 @@
304	304	Ex: #5QWD<cr> might return *5QWD90<cr>
305	305
306	306	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).
	343	+)))
307	307
308		-====== __Wheel Mode in RPM (**WR**)__ ======
	345	+|(% colspan="2" %)(((
	346	+====== __Wheel Mode in RPM__ ======
	347	+)))
	348	+|(% style="width:30px" %) |(((
	349	+Wheel moed in RPM (**WR**)
309	309
310	310	Ex: #5WR40<cr>
311	311
...	...	@@ -316,17 +316,14 @@
316	316	Ex: #5QWR<cr> might return *5QWR40<cr>
317	317
318	318	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).
	360	+)))
319	319
320		-====== __(Relative) Move in Degrees (**MD**)__ ======
	362	+|(% colspan="2" %)(((
	363	+====== __Status__ ======
	364	+)))
	365	+|(% style="width:30px" %) |(((
	366	+Query Status (**Q**)
321	321
322		-(% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
323		-Example: #5M1500<cr>
324		-
325		-(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
326		-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.
327		-
328		-====== __Query Status (**Q**)__ ======
329		-
330	330	The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
331	331
332	332	Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
...	...	@@ -334,20 +334,31 @@
334	334	|(% style="width:25px" %) |***Value returned (Q)**|**Status**|**Detailed description**
335	335	| |ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
336	336	| |ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely
337		-| |ex: *5Q2<cr>|2: Free moving|Servo is rotating in duty motion / free move using the RDM command
338		-| |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
339		-| |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
340		-| |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
341		-| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will nornally be holding)
342		-| |ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
343		-| |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
344		-| |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
345		-| |ex: *5Q10<cr>|10: Safe Mode|(((
346		-A safety limit has been exceeded (temperature, peak current or extended high current draw).
	375	+| |ex: *5Q2<cr>|2: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
	376	+| |ex: *5Q3<cr>|3: Traveling|Moving at a stable speed
	377	+| |ex: *5Q4<cr>|4: Decelerating|Decreasing from travel speed towards final position.
	378	+| |ex: *5Q5<cr>|5: Holding|Keeping current position (in EM0 mode, return will normally be holding)
	379	+| |ex: *5Q6<cr>|6: Error|If the status is Error, the error value consists of binary flags
347	347
348		-Send a Q1 command to know which limit has been reached (described below).
349		-)))
	381	+Query Error Flag (**QEF**)
350	350
	383	+|(% style="width:25px" %) |***Value returned (QEF)**|**Status**|**Detailed description**
	384	+| |ex: *5QEF0<cr>|0: LSSP_ERROR_BITS_PCBOverTemerature|
	385	+| |ex: *5QEF1<cr>|1: LSSP_ERROR_BITS_MCUOverTemerature|
	386	+| |ex: *5QEF2<cr>|2: LSSP_ERROR_BITS_MotorProbeOverTemerature|
	387	+| |ex: *5QEF3<cr>|3: LSSP_ERROR_BITS_MotorDriverOverTemerature|
	388	+| |ex: *5QEF4<cr>|4: LSSP_ERROR_BITS_Blocked|
	389	+| |ex: *5QEF5<cr>|5: LSSP_ERROR_BITS_ExceedSpeedLimit|
	390	+| |ex: *5QEF6<cr>|6: LSSP_ERROR_BITS_ExceedAccelLimit|
	391	+| |ex: *5QEF7<cr>|7: LSSP_ERROR_BITS_ExceedDecelLimit|
	392	+| |ex: *5QEF8<cr>|8: LSSP_ERROR_BITS_CurrentPositionOutOfRangePlus|
	393	+| |ex: *5QEF9<cr>|9: LSSP_ERROR_BITS_CurrentPositionOutOfRangeMinus|
	394	+| |ex: *5QEF10<cr>|10: LSSP_ERROR_BITS_EEPROMHeaderDataError|
	395	+| |ex: *5QEF11<cr>|11: LSSP_ERROR_BITS_EEPROMCheckSumError|
	396	+| |ex: *5QEF12<cr>|12: LSSP_ERROR_BITS_EEPROMMapVersionIsNotSupported|
	397	+
	398	+*Value returned (Q)StatusDetailed description
	399	+
351	351	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.
352	352
353	353	|(% style="width:25px" %) |***Value returned (Q1)**|**Status**|**Detailed description**
...	...	@@ -355,31 +355,54 @@
355	355	| |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
356	356	| |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
357	357	| |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
	407	+)))
358	358
359		-====== __Limp (**L**)__ ======
	409	+|(% colspan="2" %)(((
	410	+====== __Motion Time__ ======
	411	+)))
	412	+|(% style="width:30px" %) |(((
	413	+Query Motion Time (**QMT**)
	414	+)))
360	360
	416	+|(% colspan="2" %)(((
	417	+====== __Current Speed__ ======
	418	+)))
	419	+|(% style="width:30px" %) |(((
	420	+Query Current Speed (**QCS**)
	421	+)))
	422	+
	423	+|(% colspan="2" %)(((
	424	+====== __Limp__ ======
	425	+)))
	426	+|(% style="width:30px" %) |(((
361	361	Example: #5L<cr>
362	362
363	363	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>.
	430	+)))
364	364
365		-====== __Halt & Hold (**H**)__ ======
366		-
	432	+|(% colspan="2" %)(((
	433	+====== __Halt & Hold__ ======
	434	+)))
	435	+|(% style="width:30px" %) |(((
367	367	Example: #5H<cr>
368	368
369	369	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.)
	439	+)))
370	370
371	371	== Motion Setup ==
372	372
373		-====== __Origin Offset (**O**)__ ======
374		-
	443	+|(% colspan="2" %)(((
	444	+====== __Origin Offset__ ======
	445	+)))
	446	+|(% style="width:30px" %) |(((
375	375	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).
376	376
377		-[[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"]]
	449	+[[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"]]
378	378
379	379
380	380	In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
381	381
382		-[[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"]]
	454	+[[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"]]
383	383
384	384
385	385	Origin Offset Query (**QO**)
...	...	@@ -393,23 +393,26 @@
393	393	Example: #5CO-24<cr>
394	394
395	395	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.
	468	+)))
396	396
397		-====== __Angular Range (**AR**)__ ======
398		-
	470	+|(% colspan="2" %)(((
	471	+====== __Angular Range__ ======
	472	+)))
	473	+|(% style="width:30px" %) |(((
399	399	Example: #5AR1800<cr>
400	400
401	401	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:
402	402
403		-[[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"]]
	478	+[[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"]]
404	404
405	405	Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
406	406
407		-[[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"]]
	482	+[[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"]]
408	408
409	409
410	410	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:
411	411
412		-[[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"]]
	487	+[[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"]]
413	413
414	414
415	415	Query Angular Range (**QAR**)
...	...	@@ -419,9 +419,12 @@
419	419	Configure Angular Range (**CAR**)
420	420
421	421	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.
	497	+)))
422	422
423		-====== __Angular Acceleration (**AA**)__ ======
424		-
	499	+|(% colspan="2" %)(((
	500	+====== __Angular Acceleration__ ======
	501	+)))
	502	+|(% style="width:30px" %) |(((
425	425	The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
426	426
427	427	Ex: #5AA30<cr>
...	...	@@ -439,9 +439,12 @@
439	439	Ex: #5CAA30<cr>
440	440
441	441	This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
	520	+)))
442	442
443		-====== __Angular Deceleration (**AD**)__ ======
444		-
	522	+|(% colspan="2" %)(((
	523	+====== __Angular Deceleration__ ======
	524	+)))
	525	+|(% style="width:30px" %) |(((
445	445	The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
446	446
447	447	Ex: #5AD30<cr>
...	...	@@ -459,9 +459,12 @@
459	459	Ex: #5CAD30<cr>
460	460
461	461	This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
	543	+)))
462	462
463		-====== __Gyre Direction (**G**)__ ======
464		-
	545	+|(% colspan="2" %)(((
	546	+====== __Gyre Direction__ ======
	547	+)))
	548	+|(% style="width:30px" %) |(((
465	465	"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.
466	466
467	467	Ex: #5G-1<cr>
...	...	@@ -479,15 +479,24 @@
479	479	Ex: #5CG-1<cr>
480	480
481	481	This changes the gyre direction as described above and also writes to EEPROM.
	566	+)))
482	482
483		-====== __First Position__ ======
	568	+|(% colspan="2" %)(((
	569	+====== __Maximum Speed in Degrees__ ======
	570	+)))
	571	+|(% style="width:30px" %) |(((
	572	+Maximum Speed in Degrees (**SD**)
484	484
485		-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>
	574	+Ex: #5SD1800<cr>
486	486
487		-====== __Maximum Speed in Degrees (**SD**)__ ======
	576	+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.
488	488
489		-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:
	578	+Query Speed in Degrees (**QSD**)
490	490
	580	+Ex: #5QSD<cr> might return *5QSD1800<cr>
	581	+
	582	+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:
	583	+
491	491	|**Command sent**|**Returned value (1/10 °)**
492	492	|ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
493	493	|ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
...	...	@@ -494,43 +494,64 @@
494	494	|ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
495	495	|ex: #5QSD3<cr>|Target travel speed
496	496
497		-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.
	590	+Configure Speed in Degrees (**CSD**)
498	498
499		-====== __Maximum Speed in RPM (**SR**)__ ======
	592	+Ex: #5CSD1800<cr>
500	500
501		-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:
	594	+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.
	595	+)))
502	502
503		-|**Command sent**|**Returned value (1/10 °)**
504		-|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
505		-|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
506		-|ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
507		-|ex: #5QSR3<cr>|Target travel speed
	597	+|(% colspan="2" %)(((
	598	+====== __Maximum Speed in RPM__ ======
	599	+)))
	600	+|(% style="width:30px" %) |(((
	601	+(% class="wikigeneratedid" %)
	602	+Maximum Speed in RPM (**SR**)
508	508
509		-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.
	604	+(% class="wikigeneratedid" id="HEx:235SR453Ccr3EThiscommandsetstheservo27smaximumspeedformotioncommandsinrpmforthatsession.Intheexampleabove2Ctheservo27smaximumspeedforthatsessionwouldbesetto45rpm.Theservo27smaximumspeedcannotbesethigherthanitsphysicallimitatagivenvoltage.SRoverridesCSR28describedbelow29forthatsession.Uponresetorpowercycle2CtheservorevertstothevalueassociatedwithCSRasdescribedbelow.NotethatSD28describedabove29andSRareeffectivelythesame2Cbutallowtheusertospecifythespeedineitherunit.Thelastcommand28eitherSRorSD29receivediswhattheservousesforthatsession.QuerySpeedinRPM28QSR29Ex:235QSR3Ccr3Emightreturn2A5QSR453Ccr3EBydefaultQSRwillreturnthecurrentsessionvalue2CwhichissettothevalueofCSRasreset2FpowercycleandchangedwheneveranSD2FSRcommandisprocessed.If235QSR13Ccr3Eissent2Ctheconfiguredmaximumspeed28CSRvalue29willbereturnedinstead.Youcanalsoquerythecurrentspeedusing22222andthecurrenttargettravelspeedusing22322.Seethetablebelowforanexample:" %)
	605	+Ex: #5SR45<cr>
510	510
511		-====== __Step Mode (**SM**)__ ======
	607	+(% class="wikigeneratedid" %)
	608	+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.
512	512
513		-Ex: #8SM2<cr>
	610	+(% class="wikigeneratedid" %)
	611	+Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit.
514	514
515		-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.
	613	+(% class="wikigeneratedid" %)
	614	+The last command (either SR or SD) received is what the servo uses for that session.
516	516
517		-Note that the torque and max RPM of the actuator will be affected.
	616	+(% class="wikigeneratedid" %)
	617	+Query Speed in RPM (**QSR**)
518	518
519		-Query Step Mode (**QSM**)
	619	+(% class="wikigeneratedid" %)
	620	+Ex: #5QSR<cr> might return *5QSR45<cr>
520	520
521		-Ex: #8QSM<cr> might return *8QSM2<cr> meaning servo with ID 8 is set to half step mode.
	622	+(% class="wikigeneratedid" %)
	623	+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:
522	522
523		-Configure Step Mode (**CSM**)
	625	+|**Command sent**|**Returned value (1/10 °)**
	626	+|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
	627	+|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
	628	+|ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
	629	+|ex: #5QSR3<cr>|Target travel speed
524	524
525		-Ex: #8SM2<cr>
	631	+Configure Speed in RPM (**CSR**)
526	526
527		-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.
	633	+Ex: #5CSR45<cr>
528	528
	635	+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.
	636	+)))
	637	+
529	529	== Modifiers ==
530	530
531		-====== __Speed (**SD**) modifier__ ======
	640	+|(% colspan="2" %)(((
	641	+====== __Speed __ ======
	642	+)))
	643	+|(% style="width:30px" %) |(((
	644	+(% class="wikigeneratedid" %)
	645	+Speed in Degrees (**SD**)
532	532
533		-(% class="wikigeneratedid" id="HTimedmove28T29modifier" %)
	647	+(% class="wikigeneratedid" id="HExample:235D0SD1803Ccr3E" %)
534	534	Example: #5D0SD180<cr>
535	535
536	536	(% class="wikigeneratedid" %)
...	...	@@ -544,8 +544,13 @@
544	544
545	545	(% class="wikigeneratedid" %)
546	546	This command queries the current speed in microseconds per second.
	661	+)))
547	547
548		-====== __Timed move (**T**) modifier__ ======
	663	+|(% colspan="2" %)(((
	664	+====== __Timed move__ ======
	665	+)))
	666	+|(% style="width:30px" %) |(((
	667	+Timed Move (**T**)
549	549
550	550	Example: #5D15000T2500<cr>
551	551
...	...	@@ -552,59 +552,158 @@
552	552	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.
553	553
554	554	**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
	674	+)))
555	555
556		-====== ======
557		-
558	558	== Telemetry ==
559	559
560		-====== __Query PCB Temperature (**QT**)__ ======
	678	+|(% colspan="2" %)(((
	679	+====== __Temperature PCB__ ======
	680	+)))
	681	+|(% style="width:30px" %) |(((
	682	+Query Temp PCB (**QT**)
561	561
562	562	Ex: #5QT<cr> might return *5QT564<cr>
563	563
564	564	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.
	687	+)))
565	565
566		-====== __Query Temperature Probe (**QTP**)__ ======
	689	+|(% colspan="2" %)(((
	690	+====== __Current__ ======
	691	+)))
	692	+|(% style="width:30px" %) |(((
	693	+(% class="wikigeneratedid" %)
	694	+Query Current (**QC**)
567	567
568		-Ex:
569		-
570		-====== __Query Temp of Controller (**QTCW**, **QTCE**)__ ======
571		-
572		-Ex:
573		-
574		-====== __Query Current (**QC**)__ ======
575		-
	696	+(% class="wikigeneratedid" id="HEx:235QC3Ccr3Emightreturn2A5QC1403Ccr3E" %)
576	576	Ex: #5QC<cr> might return *5QC140<cr>
577	577
578	578	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.
	700	+)))
579	579
580		-====== __Query Model String (**QMS**)__ ======
	702	+|(% colspan="2" %)(((
	703	+====== __Model String__ ======
	704	+)))
	705	+|(% style="width:30px" %) |(((
	706	+(% class="wikigeneratedid" %)
	707	+Query Model String (**QMS**)
581	581
	709	+(% class="wikigeneratedid" id="HEx:235QMS3Ccr3Emightreturn2A5QMSLSS-HS13Ccr3E" %)
582	582	Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
583	583
584	584	This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
	713	+)))
585	585
586		-====== __Query Firmware (**QF**)__ ======
	715	+|(% colspan="2" %)(((
	716	+====== __Firmware__ ======
	717	+)))
	718	+|(% style="width:30px" %) |(((
	719	+Query Firmware (**QF**)
587	587
588	588	Ex: #5QF<cr> might return *5QF368<cr>
589	589
590	590	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
	724	+)))
591	591
592		-====== __Query Serial Number (**QN**)__ ======
	726	+|(% colspan="2" %)(((
	727	+====== __Serial Number__ ======
	728	+)))
	729	+|(% style="width:30px" %) |(((
	730	+(% class="wikigeneratedid" %)
	731	+Query Serial Number (**QN**)
593	593
	733	+(% class="wikigeneratedid" id="HEx:235QN3Ccr3Emightreturn2A5QN123456783Ccr3E" %)
594	594	Ex: #5QN<cr> might return *5QN12345678<cr>
595	595
596	596	The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
	737	+)))
597	597
598		-====== __Query IMU Linear (**QIX**, **QIY**, **QIZ**)__ ======
	739	+|(% colspan="2" %)(((
	740	+====== __Temperature Probe__ ======
	741	+)))
	742	+|(% style="width:30px" %) |(((
	743	+Query Temp motor Probe (**QTP**)
	744	+)))
599	599
	746	+|(% colspan="2" %)(((
	747	+====== __Temperature MCU__ ======
	748	+)))
	749	+|(% style="width:30px" %) |(((
	750	+Query Temp MCU (**QTM**)
	751	+)))
	752	+
	753	+|(% colspan="2" %)(((
	754	+====== __Temp Controller Error__ ======
	755	+)))
	756	+|(% style="width:30px" %) |(((
	757	+(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
	758	+Query Temp Controller Error (**QTCE**)
	759	+)))
	760	+
	761	+|(% colspan="2" %)(((
	762	+====== __Temp Controller Warning__ ======
	763	+)))
	764	+|(% style="width:30px" %) |(((
	765	+(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
	766	+Query Temp Controller Warning (**QTCW**)
	767	+)))
	768	+
	769	+|(% colspan="2" %)(((
	770	+====== __Error Flag__ ======
	771	+)))
	772	+|(% style="width:30px" %) |(((
	773	+Query Error Flag (**QEF**)
	774	+)))
	775	+
	776	+|(% colspan="2" %)(((
	777	+====== __IMU Linear__ ======
	778	+)))
	779	+|(% style="width:30px" %) |(((
	780	+(% class="wikigeneratedid" %)
	781	+Query IMU Linear (**QIX QIY QIZ**)
	782	+
	783	+(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
600	600	Ex: #6QIX<cr> might return *6QIX30<cr>
601	601
602	602	This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
	787	+)))
603	603
604		-__Query IMU Angular (**QIA**, **QIB**, **QIC**)__
	789	+|(% colspan="2" %)(((
	790	+====== __IMU Angular__ ======
	791	+)))
	792	+|(% style="width:30px" %) |(((
	793	+(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
	794	+Query IMU Angular (**QIA QIB QIG**)
605	605
	796	+(% class="wikigeneratedid" %)
606	606	Ex: #6QIB<cr> might return *6QIB44<cr>
607	607
608	608	This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
	800	+)))
609	609
	802	+== RGB LED ==
	803	+
	804	+|(% colspan="2" %)(((
	805	+====== __LED Color__ ======
	806	+)))
	807	+|(% style="width:30px" %) |(((
	808	+(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
610	610
	810	+)))
	811	+
	812	+|(% colspan="2" %)(((
	813	+====== __LED Blinking__ ======
	814	+)))
	815	+|(% style="width:30px" %) |(((
	816	+(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
	817	+
	818	+)))
	819	+
	820	+|(% colspan="2" %)(((
	821	+====== __LED Indicator__ ======
	822	+)))
	823	+|(% style="width:30px" %) |(((
	824	+(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
	825	+
	826	+)))
	827	+
	828	+