Summary

• Page properties (1 modified, 0 added, 0 removed)

Details

Page properties

Content

...	...	@@ -1,7 +1,6 @@
1	1	{{warningBox warningText="More information coming soon"/}}
2	2
3	3
4		-
5	5	(% class="wikigeneratedid" id="HTableofContents" %)
6	6	**Page Contents**
7	7
...	...	@@ -30,88 +30,104 @@
30	30
31	31	== Modifiers ==
32	32
33		-Modifiers can only be used with certain **action commands**. The format to include a modifier is:
	32	+{{html clean="false" wiki="true"}}
	33	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	34	+Modifiers can only be used with certain **action commands**. The format to include a modifier is:<div class="wikimodel-emptyline"></div>
34	34
35		-1. Start with a number sign **#** (Unicode Character: U+0023)
	36	+1. Start with a number sign **#** (Unicode Character: U+0023)
36	36	1. Servo ID number as an integer
37	37	1. Action command (one to three letters, no spaces, capital or lowercase from a subset of action commands below)
38	38	1. Action value in the correct units with no decimal
39		-1. Modifier command (one or two letters from the list of modifiers below)
	40	+1. Modifier command (one or two letters from the list of modifiers below)
40	40	1. Modifier value in the correct units with no decimal
41		-1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
	42	+1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)
42	42
43		-Ex: #5D13000T1500<cr>This results in the servo with ID #5 rotating to a position (1800 in tenths of degrees) of 130.00 degrees in a time ("T") of 1500 milliseconds (1.5 seconds).
	44	+Ex: #5D13000T1500&lt;cr&gt;<div class="wikimodel-emptyline"></div>
44	44
45		-== Queries ==
	46	+This results in the servo with ID #5 rotating to a position (1800 in tenths of degrees) of 130.00 degrees in a time ("T") of 1500 milliseconds (1.5 seconds).<div class="wikimodel-emptyline"></div>
	47	+<div class="wikimodel-emptyline"></div></div></div>
46	46
47		-Query commands request information from the servo. Query commands are also similar to action and configuration commands and must use the following format:
	49	+<h2>Queries</h2>
	50	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	51	+Query commands request information from the servo. Query commands are also similar to action and configuration commands and must use the following format:<div class="wikimodel-emptyline"></div>
48	48
49		-1. Start with a number sign **#** (Unicode Character: U+0023)
	53	+1. Start with a number sign **#** (Unicode Character: U+0023)
50	50	1. Servo ID number as an integer
51	51	1. Query command (one to four letters, no spaces, capital or lower case)
52		-1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
	56	+1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)<div class="wikimodel-emptyline"></div>
53	53
54		-Ex: #5QD<cr> Query the position in (hundredths of) degrees for servo with ID #5The query will return a serial string (almost instantaneously) via the servo's Tx in the following format:
	58	+Ex: #5QD&lt;cr&gt; Query the position in (hundredths of) degrees for servo with ID #5<div class="wikimodel-emptyline"></div>
55	55
	60	+The query will return a serial string (almost instantaneously) via the servo's Tx in the following format:
	61	+
56	56	1. Start with an asterisk * (Unicode Character: U+0023)
57	57	1. Servo ID number as an integer
58	58	1. Query command (one to four letters, no spaces, capital letters)
59	59	1. The reported value in the units described, no decimals.
60		-1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
	66	+1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)<div class="wikimodel-emptyline"></div>
61	61
62		-There is currently no option to control how fast a servo replies after it has received a query command, therefore when sending a query command to the bus, the controller should be prepared to immediately "listen" for and parse the reply. Sending multiple queries to multiple servos on a bus in fast succession may result in replies overlapping and giving incorrect or corrupt data. As such, the controller should receive a reply before sending a new query command. A reply to the query sent above might be:
	68	+There is currently no option to control how fast a servo replies after it has received a query command, therefore when sending a query command to the bus, the controller should be prepared to immediately "listen" for and parse the reply. Sending multiple queries to multiple servos on a bus in fast succession may result in replies overlapping and giving incorrect or corrupt data. As such, the controller should receive a reply before sending a new query command. A reply to the query sent above might be:<div class="wikimodel-emptyline"></div>
63	63
64		-Ex: *5QD13000<cr>
	70	+Ex: *5QD13000&lt;cr&gt;<div class="wikimodel-emptyline"></div>
65	65
66	66	This indicates that servo #5 is currently at 130.00 degrees (13000 tenths of degrees).
	73	+<div class="wikimodel-emptyline"></div></div></div>
67	67
68		-== Configurations ==
	75	+<h2>Configurations</h2>
69	69
70		-Configuration commands and corresponding values affect a servo's defaults which are written to and read from the servo's EEPROM. These configurations are retained in memory after the servo is reset or power is cut / lost. Some configuration commands affect the session, while others do not. In the Command table below, the column "Session" denotes if the configuration command affects the session. Not all action commands have a corresponding configuration command and vice versa. Configuration commands are not cumulative; this means that if two of the same configuration commands are sent, one after the next, only the last configuration is used and stored.
	77	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	78	+Configuration commands and corresponding values affect a servo's defaults which are written to and read from the servo's EEPROM.<div class="wikimodel-emptyline"></div>
71	71
72		-The format to send a configuration command is identical to that of an action command:
	80	+These configurations are retained in memory after the servo is reset or power is cut / lost. Some configuration commands affect the session, while others do not. In the Command table below, the column "Session" denotes if the configuration command affects the session. Not all action commands have a corresponding configuration command and vice versa. Configuration commands are not cumulative; this means that if two of the same configuration commands are sent, one after the next, only the last configuration is used and stored.<div class="wikimodel-emptyline"></div>
73	73
74		-1. Start with a number sign **#** (Unicode Character: U+0023)
	82	+The format to send a configuration command is identical to that of an action command:<div class="wikimodel-emptyline"></div>
	83	+
	84	+1. Start with a number sign **#** (Unicode Character: U+0023)
75	75	1. Servo ID number as an integer
76	76	1. Configuration command (two to four letters, no spaces, capital or lower case)
77	77	1. Configuration value in the correct units with no decimal
78		-1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
	88	+1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)<div class="wikimodel-emptyline"></div>
79	79
80		-Ex: #5CO-500<cr>
	90	+Ex: #5CO-500&lt;cr&gt;<div class="wikimodel-emptyline"></div>
81	81
82		-This configures an absolute origin offset ("CO") with respect to factory origin of servo with ID #5 and changes the offset for that session to -5.00 degrees (500 hundredths of degrees). Once the servo is powered off and on, zeroing the servo will cause it to move to -5.00 degrees with respect to the factory origin and report its position as 0 degrees. Configuration commands can be undone / reset either by sending the servo's default value for that configuration, or by doing a factory reset that clears all configurations (through the button menu or with DEFAULT command described below).
	92	+This configures an absolute origin offset ("CO") with respect to factory origin of servo with ID #5 and changes the offset for that session to -5.00 degrees (500 hundredths of degrees). Once the servo is powered off and on, zeroing the servo will cause it to move to -5.00 degrees with respect to the factory origin and report its position as 0 degrees. Configuration commands can be undone / reset either by sending the servo's default value for that configuration, or by doing a factory reset that clears all configurations (through the button menu or with DEFAULT command described below).<div class="wikimodel-emptyline"></div>
83	83
84		-**Session vs Configuration Query**
	94	+**Session vs Configuration Query**<div class="wikimodel-emptyline"></div>
85	85
86		-By default, the query command returns the session's value. Should no action commands have been sent to change the session value, it will return the value saved in EEPROM which will either be the servo's default, or modified with a configuration command. In order to query the value stored in EEPROM (configuration), add a '1' to the query command:
	96	+By default, the query command returns the session's value. Should no action commands have been sent to change the session value, it will return the value saved in EEPROM which will either be the servo's default, or modified with a configuration command. In order to query the value stored in EEPROM (configuration), add a '1' to the query command:<div class="wikimodel-emptyline"></div>
87	87
88		-Ex: #5CSR10<cr> immediately sets the maximum speed for servo #5 to 10rpm (explained below) and changes the value in memory.
	98	+Ex: #5CSR10&lt;cr&gt; immediately sets the maximum speed for servo #5 to 10rpm (explained below) and changes the value in memory.<div class="wikimodel-emptyline"></div>
89	89
90		-After RESET, a command of #5SR4<cr> sets the session's speed to 4rpm, but does not change the configuration value in memory. Therefore:
	100	+After RESET, a command of #5SR4&lt;cr&gt; sets the session's speed to 4rpm, but does not change the configuration value in memory. Therefore:<div class="wikimodel-emptyline"></div>
91	91
92		-#5QSR<cr> or #5QSR0<cr> would return *5QSR4<cr> which represents the value for that session, whereas
	102	+#5QSR&lt;cr&gt; or #5QSR0&lt;cr&gt; would return *5QSR4&lt;cr&gt; which represents the value for that session, whereas<div class="wikimodel-emptyline"></div>
93	93
94		-#5QSR1<cr> would return *5QSR10<cr> which represents the value in EEPROM
	104	+#5QSR1&lt;cr&gt; would return *5QSR10&lt;cr&gt; which represents the value in EEPROM
	105	+<div class="wikimodel-emptyline"></div></div></div>
95	95
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).
	107	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	108	+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).<div class="wikimodel-emptyline"></div>
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"]]
	110	+[[image:LSS-servo-positions.jpg]]<div class="wikimodel-emptyline"></div>
99	99
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:
	112	+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:<div class="wikimodel-emptyline"></div>
101	101
102		-#1D-3000<cr> This causes the servo to move to -30.00 degrees (green arrow)
	114	+#1D-3000&lt;cr&gt; This causes the servo to move to -30.00 degrees (green arrow)<div class="wikimodel-emptyline"></div>
103	103
104		-#1D21000<cr> This second position command is sent to the servo, which moves it to 210.00 degrees (orange arrow)
	116	+#1D21000&lt;cr&gt; This second position command is sent to the servo, which moves it to 210.00 degrees (orange arrow)<div class="wikimodel-emptyline"></div>
105	105
106		-#1D-42000<cr> This next command rotates the servo counterclockwise to a position of -420.00 degrees (red arrow), which means one full rotation of 360 degrees plus 60.00 degrees (420.00 - 360.00), with a virtual position of -420.0 degrees.
	118	+#1D-42000&lt;cr&gt; This next command rotates the servo counterclockwise to a position of -420.00 degrees (red arrow), which means one full rotation of 360 degrees plus 60.00 degrees (420.00 - 360.00), with a virtual position of -420.0 degrees.<div class="wikimodel-emptyline"></div>
107	107
108		-Although the final physical position would be the same as if the servo were commanded to move to -60.00 degrees, the servo is in fact at -420.00 degrees.
	120	+Although the final physical position would be the same as if the servo were commanded to move to -60.00 degrees, the servo is in fact at -420.00 degrees.<div class="wikimodel-emptyline"></div>
109	109
110		-#1D48000<cr> This new command is sent which would then cause the servo to rotate from -420.00 degrees to 480.00 degrees (blue arrow), which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations.
	122	+#1D48000&lt;cr&gt; This new command is sent which would then cause the servo to rotate from -420.00 degrees to 480.00 degrees (blue arrow), which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations.<div class="wikimodel-emptyline"></div>
111	111
112		-#1D33000<cr> would cause the servo to rotate from 480.0 degrees to 330.00 degrees (yellow arrow).
	124	+#1D33000&lt;cr&gt; would cause the servo to rotate from 480.0 degrees to 330.00 degrees (yellow arrow).<div class="wikimodel-emptyline"></div>
113	113
114	114	If the servo loses power or is power cycled, it also loses the virtual position associated with that session. For example, if the virtual position was 480.00 degrees before power is cycled, upon power up the servo's position will be read as +120.00 degrees from zero (assuming center position has not been modified). The virtual position range at power-up is [-180.00°, 180.00°].
	127	+<div class="wikimodel-emptyline"></div></div></div>
	128	+
	129	+{{/html}}
115	115	)))
116	116
117	117	= Command List =
...	...	@@ -124,10 +124,10 @@
124	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	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	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" %) | | |
	142	+| |[[**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
	143	+| |[[**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.
	144	+| |[[**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
	145	+| |**Q**uery **F**irmware **R**elease|(% style="text-align:center" %) |(% style="text-align:center" %)QFR|(% style="text-align:center" %) | | |
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**
...	...	@@ -141,15 +141,19 @@
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**
	159	+| |[[**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
	160	+| |[[**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)
144	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	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°|
	163	+| |[[**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
	164	+| |[[**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|
146	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	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	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	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.
	169	+| |[[**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|
150	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	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, &frac12; step, &frac14; step
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**
...	...	@@ -163,200 +163,211 @@
163	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	164	| |[[**Q**uery **F**irmware Version>>||anchor="HQueryFirmware28QF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | | |
165	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>>doc:||anchor="HQueryTemperatureProbe28QTP29"]]|(% 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>>doc:||anchor="HQueryMCUTemperature28QTM29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTM|(% style="text-align:center" %) | | |
168		-| |[[**Q**uery **T**emp of **C**ontroller>>doc:||anchor="HQueryTempofController28QTCW29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW, QTCE|(% style="text-align:center" %) | | |(((
	185	+| |**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
	186	+| |**Q**uery **T**emp of **C**ontroller|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW, QTCE|(% style="text-align:center" %) | | |(((
169	169	QTCW: Queries the temperature status of the motor controller (pre-warning)
170	170
171	171	QTCE: Queries the temperature status of the motor controller (over-temp error)
172	172	)))
173		-| |[[**Q**uery **I**MU Linear **X**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |mm/s^2|
174		-| |[[**Q**uery **I**MU Linear **Y**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |mm/s^2|
175		-| |[[**Q**uery **I**MU Linear **Z**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2|
176		-| |[[**Q**uery **I**MU Angular Accel **α** >>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel α (Alpha)
177		-| |[[**Q**uery **I**MU Angular Accel **β**>>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel β (Beta)
178		-| |[[**Q**uery **I**MU Angular Accel **γ**>>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIC / QIG|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel γ (Gamma)
	191	+| |**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
	192	+| |**Q**uery **I**MU Linear **X**|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |mm/s^2|
	193	+| |**Q**uery **I**MU Linear **Y**|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |mm/s^2|
	194	+| |**Q**uery **I**MU Linear **Z**|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2|
	195	+| |**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)
	196	+| |**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)
	197	+| |**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)
179	179
180	180	|(% colspan="8" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="HRGBLED"]]
181	181	|(% 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**
182	182	| |[[**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
	202	+| |[[**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.
183	183
184	184	= (% style="color:inherit; font-family:inherit" %)Details(%%) =
185	185
186	186	== (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) ==
187	187
188		-|(% colspan="2" %)(((
189	189	====== __Reset__ ======
190		-)))
191		-| |(((
192		-Ex: #5RESET<cr>
193	193
194		-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.
195		-)))
	210	+{{html wiki="true" clean="false"}}
	211	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	212	+Ex: #5RESET&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	213	+This command does a "soft reset" and reverts all commands to those stored in EEPROM (i.e. configuration commands).
	214	+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>>||anchor="HSession"]], note #2 for more details.<div class="wikimodel-emptyline"></div>
	215	+</div></div>
	216	+{{/html}}
196	196
197		-|(% colspan="2" %)(((
198		-====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
199		-)))
200		-| |(((
201		-(% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
	218	+====== __Default & confirm__ ======
202	202
203		-(% 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.
	220	+{{html wiki="true" clean="false"}}
	221	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	222	+Ex: #5DEFAULT&lt;cr&gt;<div class="wikimodel-emptyline"></div>
204	204
205		-(% style="color:inherit; font-family:inherit" %)EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
	224	+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.<div class="wikimodel-emptyline"></div>
206	206
207		-(% 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.
	226	+EX: #5DEFAULT&lt;cr&gt; followed by #5CONFIRM&lt;cr&gt;<div class="wikimodel-emptyline"></div>
208	208
209		-(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
210		-)))
	228	+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.<div class="wikimodel-emptyline"></div>
211	211
212		-|(% colspan="2" %)(((
213		-====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
214		-)))
215		-| |(((
216		-(% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
	230	+**Note:** After the CONFIRM command is sent, the servo will automatically perform a RESET.<div class="wikimodel-emptyline"></div>
	231	+</div></div>
	232	+{{/html}}
217	217
218		-(% style="color:inherit; font-family:inherit" %)This command sets in motion the equivalent of a long button press when the servo is not powered in order to enter firmware update mode. This is useful should the button be broken or inaccessible. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the UPDATE function.
	234	+====== __Update & confirm__ ======
219	219
220		-(% style="color:inherit; font-family:inherit" %)EX: #5UPDATE<cr> followed by #5CONFIRM<cr>
	236	+{{html wiki="true" clean="false"}}
	237	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	238	+Ex: #5UPDATE&lt;cr&gt;<div class="wikimodel-emptyline"></div>
221	221
222		-(% 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.
	240	+This command sets in motion the equivalent of a long button press when the servo is not powered in order to enter firmware update mode. This is useful should the button be broken or inaccessible. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the UPDATE function.<div class="wikimodel-emptyline"></div>
223	223
224		-(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
225		-)))
	242	+EX: #5UPDATE&lt;cr&gt; followed by #5CONFIRM&lt;cr&gt;<div class="wikimodel-emptyline"></div>
226	226
227		-|(% colspan="2" %)(% style="color:inherit; font-family:inherit" %)__Confirm__
228		-|(% style="width:30px" %) |(((
229		-(% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
	244	+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.<div class="wikimodel-emptyline"></div>
230	230
231		-(% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
232		-Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
233		-)))
	246	+**Note:** After the CONFIRM command is sent, the servo will automatically perform a RESET.<div class="wikimodel-emptyline"></div>
	247	+</div></div>
	248	+{{/html}}
234	234
235		-|(% colspan="2" %)(% style="color:inherit; font-family:inherit" %)__ID Number (**ID**)__
236		-|(% style="width:30px" %) |(((
237		-(% style="color:inherit; font-family:inherit" %)Configure ID Number (**CID**)
	250	+====== __Enable CAN Terminal__ ======
238	238
239		-(% style="color:inherit; font-family:inherit" %)Ex: #0CID5<cr>
	252	+{{html clean="false" wiki="true"}}
	253	+<div class="cmdcnt">
	254	+<div class="cmdpad"></div>
	255	+<div class="cmdtxt">Ex: #5CET1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
240	240
241		-The default ID is 0, so this sets the servo to ID 5.
	257	+This sets servo with ID #5 to be the final servo in the bus.
242	242
243		-Query ID Number (**QID**)
	259	+<div class="cmdtxt">Ex: #5QET&lt;cr&gt;<div class="wikimodel-emptyline"></div>
244	244
245		-Ex: #254QID<cr> might return *254QID5<cr>
	261	+The reply to this query should be *5QET1 to indicate it is the last in the servo bus.
246	246
247		-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.
248		-)))
	263	+<div class="wikimodel-emptyline"></div>
	264	+</div></div>
	265	+{{/html}}
249	249
250		-|(% colspan="2" %)(% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor (**ET**)__
251		-|(% style="width:30px" %) |(((
252		-Query Enable CAN Terminal Resistor (**QET**)
	267	+== Motion ==
253	253
254		-Ex: #5QET<cr> might return *QET0<cr>
	269	+====== __Position in Degrees (**D**)__ ======
255	255
256		-This means that servo with ID 5 is NOT configured as the last servo in the CAN bus.
	271	+{{html wiki="true" clean="false"}}
	272	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	273	+Example: #5D1456&lt;cr&gt;<div class="wikimodel-emptyline"></div>
257	257
258		-Configure Enable CAN Terminal Resistor (**CET**)
	275	+This moves the servo to an angle of 145.6 degrees, where the center (0) position is centered. Negative values (ex. -176 representing -17.6 degrees) could also be used. A full circle would be from -1800 to 1800 degrees. A value of 2700 would be the same angle (absolute position) as -900, except the servo would move in a different direction. <div class="wikimodel-emptyline"></div>
259	259
260		-(% style="color:inherit; font-family:inherit" %)Ex: #5CET1<cr>
	277	+Larger values are permitted and allow for multi-turn functionality using the concept of virtual position (explained above). <div class="wikimodel-emptyline"></div>
261	261
262		-(% 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.
263		-)))
	279	+Query Position in Degrees (**QD**)<div class="wikimodel-emptyline"></div>
264	264
265		-|(% colspan="2" %)__USB Connection Status (**UC**)__
266		-|(% style="width:30px" %) |(((
267		-Query USB Connection Status (**QUC**)
	281	+Example: #5QD&lt;cr&gt; might return *5QD132&lt;cr&gt;<div class="wikimodel-emptyline"></div>
268	268
269		-Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
270		-)))
	283	+This means the servo is located at 13.2 degrees.<div class="wikimodel-emptyline"></div>
271	271
272		-|(% colspan="2" %)__Firmware Release (**FR**)__
273		-|(% style="width:30px" %) |(((
274		-Query Firmware Release (**QFR**)
	285	+(% class="wikigeneratedid" id="H22.QueryTargetPositioninDegrees28QDT29" %)
	286	+Query Target Position in Degrees (**QDT**)<div class="wikimodel-emptyline"></div>
275	275
276		-Ex: #5QFR<cr> might return *QFR11<cr> meaning it has a (random) firmware release version number 11.
	288	+Ex: #5QDT&lt;cr&gt; might return *5QDT6783&lt;cr&gt;<div class="wikimodel-emptyline"></div>
277	277
278		-This is used to verify if the firmware on the servos is up to date, or which version is running on the microcontroller.
279		-)))
	290	+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.
	291	+<div class="wikimodel-emptyline"></div></div></div>
	292	+{{/html}}
280	280
281		-====== ======
	294	+====== __(Relative) Move in Degrees (**MD**)__ ======
282	282
	296	+{{html wiki="true" clean="false"}}
	297	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	298	+Example: #5MD123&lt;cr&gt;<div class="wikimodel-emptyline"></div>
283	283
284		-====== ======
	300	+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.
	301	+<div class="wikimodel-emptyline"></div></div></div>
	302	+{{/html}}
285	285
	304	+====== __Wheel Mode in Degrees (**WD**)__ ======
286	286
287		-====== ======
	306	+{{html wiki="true" clean="false"}}
	307	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	308	+Ex: #5WD90&lt;cr&gt;<div class="wikimodel-emptyline"></div>
288	288
	310	+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).<div class="wikimodel-emptyline"></div>
289	289
290		-====== ======
	312	+Query Wheel Mode in Degrees (**QWD**)<div class="wikimodel-emptyline"></div>
291	291
292		-
	314	+Ex: #5QWD&lt;cr&gt; might return *5QWD90&lt;cr&gt;<div class="wikimodel-emptyline"></div>
293	293
294		-== Motion ==
	316	+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).
	317	+<div class="wikimodel-emptyline"></div></div></div>
	318	+{{/html}}
295	295
296		-====== __Position in Degrees (**D**)__ ======
	320	+====== __Wheel Mode in RPM (**WR**)__ ======
297	297
298		-Example: #5D1456<cr>
	322	+{{html wiki="true" clean="false"}}
	323	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	324	+Ex: #5WR40&lt;cr&gt;<div class="wikimodel-emptyline"></div>
299	299
300		-This moves the servo to an angle of 145.6 degrees, where the center (0) position is centered. Negative values (ex. -176 representing -17.6 degrees) could also be used. A full circle would be from -1800 to 1800 degrees. A value of 2700 would be the same angle (absolute position) as -900, except the servo would move in a different direction.
	326	+This command sets the servo to wheel mode where it will rotate in the desired direction at the selected rpm. Wheel mode (a.k.a. "continuous rotation") has the servo operate like a geared DC motor. The servo's maximum rpm cannot be set higher than its physical limit at a given voltage. The example above would have the servo rotate at 40 rpm clockwise (assuming factory default configurations).<div class="wikimodel-emptyline"></div>
301	301
302		-Larger values are permitted and allow for multi-turn functionality using the concept of virtual position (explained above).
	328	+Query Wheel Mode in RPM (**QWR**)<div class="wikimodel-emptyline"></div>
303	303
304		-Query Position in Degrees (**QD**)
	330	+Ex: #5QWR&lt;cr&gt; might return *5QWR40&lt;cr&gt;<div class="wikimodel-emptyline"></div>
305	305
306		-Example: #5QD<cr> might return *5QD132<cr>
	332	+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).
	333	+<div class="wikimodel-emptyline"></div></div></div>
	334	+{{/html}}
307	307
308		-This means the servo is located at 13.2 degrees.
	336	+====== __Position in PWM (**P**)__ ======
309	309
310		-Query Target Position in Degrees (**QDT**)
	338	+{{html wiki="true" clean="false"}}
	339	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	340	+Example: #5P2334&lt;cr&gt;<div class="wikimodel-emptyline"></div>
311	311
312		-Ex: #5QDT<cr> might return *5QDT6783<cr>
	342	+The position in PWM pulses was retained in order to be backward compatible with the SSC-32 / 32U protocol. This relates the desired angle with an RC standard PWM signal and is further explained in the SSC-32 and [[SSC-32U manuals>>https://www.robotshop.com/media/files/pdf2/lynxmotion_ssc-32u_usb_user_guide.pdf#page=24]]. Without any modifications to configuration considered, and a ±90.0 degrees standard range where 1500 microseconds is centered, a PWM signal of 2334 would set the servo to 165.1 degrees. Valid values for P are [500, 2500]. Values outside this range are corrected / restricted to end points.<div class="wikimodel-emptyline"></div>
313	313
314		-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.
	344	+Query Position in Pulse (**QP**)<div class="wikimodel-emptyline"></div>
315	315
316		-====== __(Relative) Move in Degrees (**MD**)__ ======
	346	+Example: #5QP&lt;cr&gt; might return *5QP2334<div class="wikimodel-emptyline"></div>
317	317
	348	+This command queries the current angular position in PWM "units". The user must take into consideration that the response includes any angular range and origin configurations in order to determine the actual angle.
	349	+Valid values for QP are {-500, [500, 2500], -2500}. Values outside the [500, 2500] range are given a negative corresponding end point value to indicate they are out of bounds (note that if the servo is physically located at one of the endpoints, it may return a negative number if it is a fraction of a degree beyond the position).
	350	+<div class="wikimodel-emptyline"></div></div></div>
	351	+{{/html}}
318	318
319		-Example: #5MD123<cr>
	353	+====== __(Relative) Move in PWM (**M**)__ ======
320	320
321		-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.
	355	+{{html wiki="true" clean="false"}}
	356	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	357	+Example: #5M1500&lt;cr&gt;<div class="wikimodel-emptyline"></div>
322	322
323		-====== __Wheel Mode in Degrees (**WD**)__ ======
	359	+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.
	360	+<div class="wikimodel-emptyline"></div></div></div>
	361	+{{/html}}
324	324
325		-Ex: #5WD90<cr>
	363	+====== __Raw Duty-cycle Move (**RDM**)__ ======
326	326
327		-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).
	365	+{{html wiki="true" clean="false"}}
	366	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	367	+Example: #5RDM512&lt;cr&gt;<div class="wikimodel-emptyline"></div>
328	328
329		-Query Wheel Mode in Degrees (**QWD**)
	369	+The raw duty-cycle move command (or free move command) will rotate the servo at a specified duty cycle value in wheel mode (a.k.a. "continuous rotation") like a geared DC motor.<div class="wikimodel-emptyline"></div>
330	330
331		-Ex: #5QWD<cr> might return *5QWD90<cr>
	371	+The duty values range from 0 to 1023. Negative values will rotate the servo in the opposite direction (for factory default a negative value would be counter clockwise).<div class="wikimodel-emptyline"></div>
332	332
333		-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).
	373	+Query Move in Duty-cycle (**QMD**)<div class="wikimodel-emptyline"></div>
334	334
335		-====== __Wheel Mode in RPM (**WR**)__ ======
	375	+Example: #5QMD&lt;cr&gt; might return *5QMD512<div class="wikimodel-emptyline"></div>
336	336
337		-Ex: #5WR40<cr>
	377	+This command queries the raw duty-cycle move value. 512 value means that the motor is rotating at 50% duty-cycle.
	378	+<div class="wikimodel-emptyline"></div></div></div>
	379	+{{/html}}
338	338
339		-This command sets the servo to wheel mode where it will rotate in the desired direction at the selected rpm. Wheel mode (a.k.a. "continuous rotation") has the servo operate like a geared DC motor. The servo's maximum rpm cannot be set higher than its physical limit at a given voltage. The example above would have the servo rotate at 40 rpm clockwise (assuming factory default configurations).
340		-
341		-Query Wheel Mode in RPM (**QWR**)
342		-
343		-Ex: #5QWR<cr> might return *5QWR40<cr>
344		-
345		-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).
346		-
347		-====== __(Relative) Move in Degrees (**MD**)__ ======
348		-
349		-(% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
350		-Example: #5M1500<cr>
351		-
352		-(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
353		-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.
354		-
355	355	====== __Query Status (**Q**)__ ======
356	356
357		-The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
	383	+{{html wiki="true" clean="false"}}
	384	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	385	+The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.<div class="wikimodel-emptyline"></div>
358	358
359		-Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
	387	+Ex: #5Q&lt;cr&gt; might return *5Q6&lt;cr&gt;, which indicates the motor is holding a position.<div class="wikimodel-emptyline"></div>
	388	+</div></div>
	389	+{{/html}}
360	360
361	361	|(% style="width:25px" %) |***Value returned (Q)**|**Status**|**Detailed description**
362	362	| |ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
...	...	@@ -375,7 +375,11 @@
375	375	Send a Q1 command to know which limit has been reached (described below).
376	376	)))
377	377
378		-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.
	408	+{{html wiki="true" clean="false"}}
	409	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	410	+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.<div class="wikimodel-emptyline"></div>
	411	+</div></div>
	412	+{{/html}}
379	379
380	380	|(% style="width:25px" %) |***Value returned (Q1)**|**Status**|**Detailed description**
381	381	| |ex: *5Q0<cr>|No limits have been passed|Nothing is wrong
...	...	@@ -385,255 +385,505 @@
385	385
386	386	====== __Limp (**L**)__ ======
387	387
388		-Example: #5L<cr>
	422	+{{html wiki="true" clean="false"}}
	423	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	424	+Example: #5L&lt;cr&gt;<div class="wikimodel-emptyline"></div>
389	389
390		-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>.
	426	+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&lt;cr&gt;.
	427	+<div class="wikimodel-emptyline"></div></div></div>
	428	+{{/html}}
391	391
392	392	====== __Halt & Hold (**H**)__ ======
393	393
394		-Example: #5H<cr>
	432	+{{html wiki="true" clean="false"}}
	433	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	434	+Example: #5H&lt;cr&gt;<div class="wikimodel-emptyline"></div>
395	395
396	396	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.)
	437	+<div class="wikimodel-emptyline"></div></div></div>
	438	+{{/html}}
397	397
398	398	== Motion Setup ==
399	399
400		-====== __Origin Offset (**O**)__ ======
	442	+====== __Enable Motion Profile (**EM**)__ ======
401	401
402		-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).
	444	+{{html clean="false" wiki="true"}}
	445	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	446	+EM1 (Enable Motion Profile #1) is the default mode of the LSS and is an easy way to control the servo's position with a single (serial) position command. This mode uses a trapezoidal motion profile which takes care of acceleration, constant speed travel and deceleration. Once the actual position is within a certain value of the target, it switches to a holding algorithm. The LSS commands for Angular Acceleration and Deceleration (AA/CAA/AD/CAD) Angular Stiffness (AS/CAS) and Angular holding stiffness (AH/CAH) affect this motion profile. Modifiers like SD/S and T can be used in EM1.<div class="wikimodel-emptyline"></div>
403	403
404		-[[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"]]
	448	+Ex: #5EM1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
405	405
	450	+This command enables a trapezoidal motion profile for servo #5 <div class="wikimodel-emptyline"></div>
406	406
407		-In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
	452	+Ex: #5EM0&lt;cr&gt;<div class="wikimodel-emptyline"></div>
408	408
409		-[[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	+This command will disable the built-in trapezoidal motion profile. As such, the servo will move at full speed to the target position using the D/MD action commands. Modifiers like SD/S or T cannot be used in EM0 mode. By default the Filter Position Counter, or "FPC" is active in EM0 mode to smooth out its operation. EM0 is suggested for applications where an external controller will be determining all incremental intermediate positions of the servo's motion, effectively replacing a trajectory manager. To prevent having to send position commands continuously to reach the desired position in EM0/FPC active (FPC >= 2), an internal position engine (IPE) repeats the last position command. Note that in EM0 mode, the servo will effectively always be in status: Holding (if using the query status command).
410	410
	456	+<div class="wikimodel-emptyline"></div>
411	411
412		-Origin Offset Query (**QO**)
	458	+Query Motion Profile (**QEM**)<div class="wikimodel-emptyline"></div>
413	413
414		-Example: #5QO<cr> might return *5QO-13
	460	+Ex: #5QEM&lt;cr&gt; might return *5QEM1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
415	415
416		-This allows you to query the angle (in tenths of degrees) of the origin in relation to the factory zero position. In this example, the new origin is at -1.3 degrees from the factory zero.
	462	+This command will query the motion profile. **0:** motion profile disabled / **1:** trapezoidal motion profile enabled.<div class="wikimodel-emptyline"></div>
417	417
418		-Configure Origin Offset (**CO**)
	464	+Configure Motion Profile (**CEM**)<div class="wikimodel-emptyline"></div>
419	419
420		-Example: #5CO-24<cr>
	466	+Ex: #5CEM0&lt;cr&gt;<div class="wikimodel-emptyline"></div>
421	421
	468	+This command configures the motion profile and saves it in the EEPROM. The setting will be saved upon servo reset / power cycle.
	469	+<div class="wikimodel-emptyline"></div></div></div>
	470	+{{/html}}
	471	+
	472	+====== __Filter Position Count (**FPC**)__ ======
	473	+
	474	+{{html clean="false" wiki="true"}}
	475	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	476	+The FPC value relates to the depth of a first order filter (exponential weighted average) over the position change. This has the effect of slowing down both acceleration and deceleration while still allowing the LSS to try to reach the desired position at maximum power at all times. A smaller FPC value will reduce the smoothing effect and a larger value will increase it. To prevent having to send position commands continuously to reach the desired position in EM0/FPC active (FPC >= 2), an internal position engine (IPE) has been put in place, which is also active by default.
	477	+<div class="wikimodel-emptyline"></div>
	478	+Ex: #5FPC10&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	479	+This command allows the user to change the Filter Position Count value for that session. <div class="wikimodel-emptyline"></div>
	480	+
	481	+Query Filter Position Count (**QFPC**)<div class="wikimodel-emptyline"></div>
	482	+
	483	+Ex: #5QFPC&lt;cr&gt; might return *5QFPC10&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	484	+
	485	+This command will query the Filter Position Count value.<div class="wikimodel-emptyline"></div>
	486	+
	487	+Configure Filter Position Count (**CFPC**)<div class="wikimodel-emptyline"></div>
	488	+
	489	+Ex: #5CFPC10&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	490	+
	491	+This command configures the Filter Position Count value and saves it in the EEPROM. The setting will be saved upon servo reset / power cycle.
	492	+<div class="wikimodel-emptyline"></div></div></div>
	493	+{{/html}}
	494	+
	495	+====== __Origin Offset (**O**)__ ======
	496	+
	497	+{{html wiki="true" clean="false"}}
	498	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	499	+Example: #5O2400&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	500	+
	501	+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).<div class="wikimodel-emptyline"></div>
	502	+
	503	+[[image:LSS-servo-default.jpg]]<div class="wikimodel-emptyline"></div>
	504	+
	505	+In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:<div class="wikimodel-emptyline"></div>
	506	+
	507	+[[image:LSS-servo-origin.jpg]]<div class="wikimodel-emptyline"></div>
	508	+
	509	+Origin Offset Query (**QO**)<div class="wikimodel-emptyline"></div>
	510	+
	511	+Example: #5QO&lt;cr&gt; might return *5QO-13<div class="wikimodel-emptyline"></div>
	512	+
	513	+This allows you to query the angle (in tenths of degrees) of the origin in relation to the factory zero position. In this example, the new origin is at -1.3 degrees from the factory zero.<div class="wikimodel-emptyline"></div>
	514	+
	515	+Configure Origin Offset (**CO**)<div class="wikimodel-emptyline"></div>
	516	+
	517	+Example: #5CO-24&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	518	+
422	422	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.
	520	+<div class="wikimodel-emptyline"></div></div></div>
	521	+{{/html}}
423	423
424	424	====== __Angular Range (**AR**)__ ======
425	425
426		-Example: #5AR1800<cr>
	525	+{{html wiki="true" clean="false"}}
	526	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	527	+Example: #5AR1800&lt;cr&gt;<div class="wikimodel-emptyline"></div>
427	427
428		-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:
	529	+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:<div class="wikimodel-emptyline"></div>
429	429
430		-[[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"]]
	531	+[[image:LSS-servo-default.jpg]]<div class="wikimodel-emptyline"></div>
431	431
432		-Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
	533	+Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.<div class="wikimodel-emptyline"></div>
433	433
434		-[[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"]]
	535	+[[image:LSS-servo-ar.jpg]]<div class="wikimodel-emptyline"></div>
435	435
	537	+Finally, the angular range action command (ex. #5AR1800&lt;cr&gt;) and origin offset action command (ex. #5O-1200&lt;cr&gt;) are used to move both the center and limit the angular range:<div class="wikimodel-emptyline"></div>
436	436
437		-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:
	539	+[[image:LSS-servo-ar-o-1.jpg]]<div class="wikimodel-emptyline"></div>
438	438
439		-[[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"]]
	541	+Query Angular Range (**QAR**)<div class="wikimodel-emptyline"></div>
440	440
	543	+Example: #5QAR&lt;cr&gt; might return *5AR1800, indicating the total angular range is 180.0 degrees.<div class="wikimodel-emptyline"></div>
441	441
442		-Query Angular Range (**QAR**)
	545	+Configure Angular Range (**CAR**)<div class="wikimodel-emptyline"></div>
443	443
444		-Example: #5QAR<cr> might return *5AR1800, indicating the total angular range is 180.0 degrees.
	547	+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.
	548	+<div class="wikimodel-emptyline"></div></div></div>
	549	+{{/html}}
445	445
446		-Configure Angular Range (**CAR**)
	551	+====== __Angular Stiffness (**AS**)__ ======
447	447
448		-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.
	553	+{{html wiki="true" clean="false"}}
	554	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	555	+The servo's rigidity / angular stiffness can be thought of as (though not identical to) a damped spring in which the value affects the stiffness and embodies how much, and how quickly the servo tried keep the requested position against changes. There are no units.<div class="wikimodel-emptyline"></div>
449	449
	557	+A higher value of "angular stiffness":<div class="wikimodel-emptyline"></div>
	558	+
	559	+* The more torque will be applied to try to keep the desired position against external input / changes
	560	+* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position<div class="wikimodel-emptyline"></div>
	561	+
	562	+A lower value on the other hand:<div class="wikimodel-emptyline"></div>
	563	+
	564	+* Causes a slower acceleration to the travel speed, and a slower deceleration
	565	+* Allows the target position to deviate more from its position before additional torque is applied to bring it back<div class="wikimodel-emptyline"></div>
	566	+
	567	+The default value for stiffness depending on the firmware may be 0 or 1. Greater values produce increasingly erratic behavior and the effect becomes extreme below -4 and above +4. Maximum values are -10 to +10.<div class="wikimodel-emptyline"></div>
	568	+
	569	+Ex: #5AS-2&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	570	+
	571	+This reduces the angular stiffness to -2 for that session, allowing the servo to deviate more around the desired position. This can be beneficial in many situations such as impacts (legged robots) where more of a "spring" effect is desired. Upon reset, the servo will use the value stored in memory, based on the last configuration command.<div class="wikimodel-emptyline"></div>
	572	+
	573	+Ex: #5QAS&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	574	+
	575	+Queries the value being used.<div class="wikimodel-emptyline"></div>
	576	+
	577	+Ex: #5CAS-2&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	578	+
	579	+Writes the desired angular stiffness value to EEPROM.
	580	+<div class="wikimodel-emptyline"></div></div></div>
	581	+{{/html}}
	582	+
	583	+====== __Angular Holding Stiffness (**AH**)__ ======
	584	+
	585	+{{html wiki="true" clean="false"}}
	586	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	587	+The angular holding stiffness determines the servo's ability to hold a desired position under load. The default value for stiffness depending on the firmware may be 0 or 1. Greater values produce increasingly erratic behavior and the effect becomes extreme below -4 and above +4. Maximum values are -10 to +10.<div class="wikimodel-emptyline"></div>
	588	+
	589	+Ex: #5AH3&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	590	+
	591	+This sets the holding stiffness for servo #5 to 3 for that session.<div class="wikimodel-emptyline"></div>
	592	+
	593	+Query Angular Holding Stiffness (**QAH**)<div class="wikimodel-emptyline"></div>
	594	+
	595	+Ex: #5QAH&lt;cr&gt; might return *5QAH3&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	596	+
	597	+This returns the servo's angular holding stiffness value.<div class="wikimodel-emptyline"></div>
	598	+
	599	+Configure Angular Holding Stiffness (**CAH**)<div class="wikimodel-emptyline"></div>
	600	+
	601	+Ex: #5CAH2&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	602	+
	603	+This writes the angular holding stiffness of servo #5 to 2 to EEPROM.
	604	+<div class="wikimodel-emptyline"></div></div></div>
	605	+{{/html}}
	606	+
450	450	====== __Angular Acceleration (**AA**)__ ======
451	451
452		-The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
	609	+{{html wiki="true" clean="false"}}
	610	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	611	+The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.<div class="wikimodel-emptyline"></div>
453	453
454		-Ex: #5AA30<cr>
	613	+Ex: #5AA30&lt;cr&gt;<div class="wikimodel-emptyline"></div>
455	455
456		-This sets the angular acceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).
	615	+This sets the angular acceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).<div class="wikimodel-emptyline"></div>
457	457
458		-Query Angular Acceleration (**QAA**)
	617	+Query Angular Acceleration (**QAA**)<div class="wikimodel-emptyline"></div>
459	459
460		-Ex: #5QAA<cr> might return *5QAA30<cr>
	619	+Ex: #5QAA&lt;cr&gt; might return *5QAA30&lt;cr&gt;<div class="wikimodel-emptyline"></div>
461	461
462		-This returns the servo's angular acceleration in degrees per second squared (°/s^^2^^).
	621	+This returns the servo's angular acceleration in degrees per second squared (°/s^^2^^).<div class="wikimodel-emptyline"></div>
463	463
464		-Configure Angular Acceleration (**CAA**)
	623	+Configure Angular Acceleration (**CAA**)<div class="wikimodel-emptyline"></div>
465	465
466		-Ex: #5CAA30<cr>
	625	+Ex: #5CAA30&lt;cr&gt;<div class="wikimodel-emptyline"></div>
467	467
468	468	This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
	628	+<div class="wikimodel-emptyline"></div></div></div>
	629	+{{/html}}
469	469
470	470	====== __Angular Deceleration (**AD**)__ ======
471	471
472		-The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
	633	+{{html wiki="true" clean="false"}}
	634	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	635	+The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.<div class="wikimodel-emptyline"></div>
473	473
474		-Ex: #5AD30<cr>
	637	+Ex: #5AD30&lt;cr&gt;<div class="wikimodel-emptyline"></div>
475	475
476		-This sets the angular deceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).
	639	+This sets the angular deceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).<div class="wikimodel-emptyline"></div>
477	477
478		-Query Angular Deceleration (**QAD**)
	641	+Query Angular Deceleration (**QAD**)<div class="wikimodel-emptyline"></div>
479	479
480		-Ex: #5QAD<cr> might return *5QAD30<cr>
	643	+Ex: #5QAD&lt;cr&gt; might return *5QAD30&lt;cr&gt;<div class="wikimodel-emptyline"></div>
481	481
482		-This returns the servo's angular deceleration in degrees per second squared (°/s^^2^^).
	645	+This returns the servo's angular deceleration in degrees per second squared (°/s^^2^^).<div class="wikimodel-emptyline"></div>
483	483
484		-Configure Angular Deceleration (**CAD**)
	647	+Configure Angular Deceleration (**CAD**)<div class="wikimodel-emptyline"></div>
485	485
486		-Ex: #5CAD30<cr>
	649	+Ex: #5CAD30&lt;cr&gt;<div class="wikimodel-emptyline"></div>
487	487
488		-This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
	651	+This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
	652	+<div class="wikimodel-emptyline"></div></div></div>
	653	+{{/html}}
489	489
490	490	====== __Gyre Direction (**G**)__ ======
491	491
492		-"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.
	657	+{{html wiki="true" clean="false"}}
	658	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	659	+"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.<div class="wikimodel-emptyline"></div>
493	493
494		-Ex: #5G-1<cr>
	661	+Ex: #5G-1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
495	495
496		-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.
	663	+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.<div class="wikimodel-emptyline"></div>
497	497
498		-Query Gyre Direction (**QG**)
	665	+Query Gyre Direction (**QG**)<div class="wikimodel-emptyline"></div>
499	499
500		-Ex: #5QG<cr> might return *5QG-1<cr>
	667	+Ex: #5QG&lt;cr&gt; might return *5QG-1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
501	501
502		-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.
	669	+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.<div class="wikimodel-emptyline"></div>
503	503
504		-Configure Gyre (**CG**)
	671	+Configure Gyre (**CG**)<div class="wikimodel-emptyline"></div>
505	505
506		-Ex: #5CG-1<cr>
	673	+Ex: #5CG-1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
507	507
508	508	This changes the gyre direction as described above and also writes to EEPROM.
	676	+<div class="wikimodel-emptyline"></div></div></div>
	677	+{{/html}}
509	509
510	510	====== __First Position__ ======
511	511
512		-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>
	681	+{{html wiki="true" clean="false"}}
	682	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	683	+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. <div class="wikimodel-emptyline"></div>
513	513
514		-====== __Maximum Speed in Degrees (**SD**)__ ======
	685	+Query First Position in Degrees (**QFD**)<div class="wikimodel-emptyline"></div>
515	515
516		-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:
	687	+Ex: #5QFD&lt;cr&gt; might return *5QFD900&lt;cr&gt; <div class="wikimodel-emptyline"></div>
517	517
518		-|**Command sent**|**Returned value (1/10 °)**
519		-|ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
520		-|ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
521		-|ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
522		-|ex: #5QSD3<cr>|Target travel speed
	689	+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.<div class="wikimodel-emptyline"></div>
523	523
524		-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.
	691	+Configure First Position in Degrees (**CFD**)<div class="wikimodel-emptyline"></div>
525	525
526		-====== __Maximum Speed in RPM (**SR**)__ ======
	693	+Ex: #5CFD900&lt;cr&gt;<div class="wikimodel-emptyline"></div>
527	527
528		-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:
	695	+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&lt;cr&gt;) results in the servo remaining limp upon power up. In order to remove the first position, send no value, ex: #5CFD&lt;cr&gt;
	696	+<div class="wikimodel-emptyline"></div></div></div>
	697	+{{/html}}
529	529
530		-|**Command sent**|**Returned value (1/10 °)**
531		-|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
532		-|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
533		-|ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
534		-|ex: #5QSR3<cr>|Target travel speed
	699	+====== __Maximum Motor Duty (**MMD**)__ ======
535	535
536		-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.
	701	+{{html wiki="true" clean="false"}}
	702	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	703	+This command allows the user to limit the duty cycle value sent from the servo's MCU to the DC Motor driver. The duty cycle limit value can be within the range of 255 to 1023. The default value is 1023. A typical use-case for this command is active compliance.<div class="wikimodel-emptyline"></div>
537	537
538		-====== __Step Mode (**SM**)__ ======
	705	+Ex: #5MMD512&lt;cr&gt;<div class="wikimodel-emptyline"></div>
539	539
540		-Ex: #8SM2<cr>
	707	+This will set the duty-cycle to 512 for servo with ID 5 for that session.<div class="wikimodel-emptyline"></div>
541	541
542		-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.
	709	+Query Maximum Motor Duty (**QMMD**)<div class="wikimodel-emptyline"></div>
543	543
544		-Note that the torque and max RPM of the actuator will be affected.
	711	+Ex: #5QMMDD&lt;cr&gt; might return *5QMMD512&lt;cr&gt; <div class="wikimodel-emptyline"></div>
545	545
546		-Query Step Mode (**QSM**)
	713	+This command returns the configured limit of the duty cycle value sent from the servo's MCU to the Motor Controller. The default value is 1023.
	714	+<div class="wikimodel-emptyline"></div></div></div>
	715	+{{/html}}
547	547
548		-Ex: #8QSM<cr> might return *8QSM2<cr> meaning servo with ID 8 is set to half step mode.
	717	+====== __Maximum Speed in Degrees (**SD**)__ ======
549	549
550		-Configure Step Mode (**CSM**)
	719	+{{html wiki="true" clean="false"}}
	720	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	721	+Ex: #5SD1800&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	722	+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.<div class="wikimodel-emptyline"></div>
551	551
552		-Ex: #8SM2<cr>
	724	+Query Speed in Degrees (**QSD**)<div class="wikimodel-emptyline"></div>
553	553
554		-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.
	726	+Ex: #5QSD&lt;cr&gt; might return *5QSD1800&lt;cr&gt;<div class="wikimodel-emptyline"></div>
555	555
556		-== Modifiers ==
	728	+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&lt;cr&gt; 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:<div class="wikimodel-emptyline"></div>
557	557
558		-====== __Speed (**SD**) modifier__ ======
	730	+|**Command sent**|**Returned value (1/10 °)**
	731	+|ex: #5QSD&lt;cr&gt;|Session value for maximum speed (set by latest SD/SR command)
	732	+|ex: #5QSD1&lt;cr&gt;|Configured maximum speed in EEPROM (set by CSD/CSR)
	733	+|ex: #5QSD2&lt;cr&gt;|Instantaneous speed (same as QWD)
	734	+|ex: #5QSD3&lt;cr&gt;|Target travel speed<div class="wikimodel-emptyline"></div>
559	559
560		-(% class="wikigeneratedid" id="HTimedmove28T29modifier" %)
561		-Example: #5D0SD180<cr>
	736	+Configure Speed in Degrees (**CSD**)<div class="wikimodel-emptyline"></div>
562	562
563		-(% class="wikigeneratedid" %)
564		-Modifier (SD) is only for a position (D) or relative position (MD) action and determines the speed of the move in tenths of degrees per second. A speed modifier (SD) of 180 would cause the servo to rotate from its current position to the desired absolute or relative position at a speed of 18 degrees per second.
	738	+Ex: #5CSD1800&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	739	+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.<div class="wikimodel-emptyline"></div>
	740	+</div></div>
	741	+{{/html}}
565	565
566		-(% class="wikigeneratedid" %)
567		-Query Speed (**QS**)
	743	+====== __Maximum Speed in RPM (**SR**)__ ======
568	568
569		-(% class="wikigeneratedid" %)
570		-Example: #5QS<cr> might return *5QS300<cr>
	745	+{{html wiki="true" clean="false"}}
	746	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	747	+Ex: #5SR45&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	748	+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.<div class="wikimodel-emptyline"></div>
571	571
572		-(% class="wikigeneratedid" %)
573		-This command queries the current speed in microseconds per second.
	750	+Query Speed in RPM (**QSR**)<div class="wikimodel-emptyline"></div>
574	574
575		-====== __Timed move (**T**) modifier__ ======
	752	+Ex: #5QSR&lt;cr&gt; might return *5QSR45&lt;cr&gt;<div class="wikimodel-emptyline"></div>
576	576
577		-Example: #5D15000T2500<cr>
	754	+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&lt;cr&gt; 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:<div class="wikimodel-emptyline"></div>
578	578
579		-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.
	756	+|**Command sent**|**Returned value (1/10 °)**
	757	+|ex: #5QSR&lt;cr&gt;|Session value for maximum speed (set by latest SD/SR command)
	758	+|ex: #5QSR1&lt;cr&gt;|Configured maximum speed in EEPROM (set by CSD/CSR)
	759	+|ex: #5QSR2&lt;cr&gt;|Instantaneous speed (same as QWD)
	760	+|ex: #5QSR3&lt;cr&gt;|Target travel speed<div class="wikimodel-emptyline"></div>
580	580
581		-**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
	762	+Configure Speed in RPM (**CSR**)<div class="wikimodel-emptyline"></div>
582	582
583		-====== ======
	764	+Ex: #5CSR45&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	765	+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.<div class="wikimodel-emptyline"></div>
	766	+</div></div>
	767	+{{/html}}
584	584
585		-== Telemetry ==
	769	+== Modifiers ==
586	586
587		-====== __Query PCB Temperature (**QT**)__ ======
	771	+====== __Speed (**S**, **SD**) modifier__ ======
588	588
589		-Ex: #5QT<cr> might return *5QT564<cr>
	773	+{{html clean="false" wiki="true"}}
	774	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	775	+Example: #5P1500S750&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	776	+Modifier (S) is only for a position (P) action and determines the speed of the move in microseconds per second. A speed of 750 microseconds would cause the servo to rotate from its current position to the desired position at a speed of 750 microseconds per second. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.<div class="wikimodel-emptyline"></div>
	777	+Example: #5D0SD180&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	778	+Modifier (SD) is only for a position (D) or relative position (MD) action and determines the speed of the move in tenths of degrees per second. A speed modifier (SD) of 180 would cause the servo to rotate from its current position to the desired absolute or relative position at a speed of 18 degrees per second.<div class="wikimodel-emptyline"></div>
	779	+Query Speed (**QS**)<div class="wikimodel-emptyline"></div>
	780	+Example: #5QS&lt;cr&gt; might return *5QS300&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	781	+This command queries the current speed in microseconds per second.<div class="wikimodel-emptyline"></div>
	782	+</div></div>
	783	+{{/html}}
590	590
591		-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.
	785	+====== __Timed move (**T**) modifier__ ======
592	592
593		-====== __Query Temperature Probe (**QTP**)__ ======
	787	+{{html wiki="true" clean="false"}}
	788	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	789	+Example: #5P1500T2500&lt;cr&gt;<div class="wikimodel-emptyline"></div>
594	594
595		-Ex:
	791	+Timed move can be used only as a modifier for a position (P, D, MD) actions. The units are in milliseconds, so a timed move of 2500 milliseconds would cause the servo to rotate from its current position to the desired position in 2.5 seconds. The onboard controller will attempt to ensure that the move is performed entirely at the desired velocity, though differences in torque may cause it to not be exact. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.<div class="wikimodel-emptyline"></div>
	792	+**Note:** If the calculated speed at which a servo must rotate for a timed move is greater than its maximum speed (which depends on voltage and load), then it will move at its maximum speed, and the time of the move may be longer than requested.<div class="wikimodel-emptyline"></div>
	793	+</div></div>
	794	+{{/html}}
596	596
597		-====== __Query Temp of Controller (**QTCW**)__ ======
	796	+====== __Current Halt & Hold (**CH**) modifier__ ======
598	598
599		-Ex:
	798	+{{html wiki="true" clean="false"}}
	799	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	800	+Example: #5D1423CH400&lt;cr&gt;<div class="wikimodel-emptyline"></div>
600	600
601		-An alternative is QTCE
	802	+This has servo with ID 5 move to 142.3 degrees but, should it detect a current of 400mA or higher before it reaches the desired position, will immediately halt and hold position.<div class="wikimodel-emptyline"></div>
	803	+This modifier can be added to the following actions: D; MD; WD; WR.<div class="wikimodel-emptyline"></div>
	804	+</div></div>
	805	+{{/html}}
602	602
603		-====== __Query Current (**QC**)__ ======
	807	+====== __Current Limp (**CL**) modifier__ ======
604	604
605		-Ex: #5QC<cr> might return *5QC140<cr>
	809	+{{html wiki="true" clean="false"}}
	810	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	811	+Example: #5D1423CL400&lt;cr&gt;<div class="wikimodel-emptyline"></div>
606	606
607		-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.
	813	+This has servo with ID 5 move to 142.3 degrees but, should it detect a current of 400mA or higher before it reaches the desired position, will immediately go limp.<div class="wikimodel-emptyline"></div>
	814	+This modifier can be added to the following actions: D; MD; WD; WR.<div class="wikimodel-emptyline"></div>
	815	+</div></div>
	816	+{{/html}}
608	608
609		-====== __Query Model String (**QMS**)__ ======
	818	+== Telemetry ==
610	610
611		-Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
	820	+====== __Query Voltage (**QV**)__ ======
612	612
613		-This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
	822	+{{html wiki="true" clean="false"}}
	823	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	824	+Ex: #5QV&lt;cr&gt; might return *5QV11200&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	825	+The number returned is in milliVolts, so in the case above, servo with ID 5 has an input voltage of 11.2V.<div class="wikimodel-emptyline"></div>
	826	+</div></div>
	827	+{{/html}}
614	614
615		-====== __Query Firmware (**QF**)__ ======
	829	+====== __Query Temperature (**QT**)__ ======
616	616
617		-Ex: #5QF<cr> might return *5QF368<cr>
	831	+{{html wiki="true" clean="false"}}
	832	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	833	+Ex: #5QT&lt;cr&gt; might return *5QT564&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	834	+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.<div class="wikimodel-emptyline"></div>
	835	+</div></div>
	836	+{{/html}}
618	618
619		-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
	838	+====== __Query Current (**QC**)__ ======
620	620
	840	+{{html wiki="true" clean="false"}}
	841	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	842	+Ex: #5QC&lt;cr&gt; might return *5QC140&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	843	+The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.<div class="wikimodel-emptyline"></div>
	844	+</div></div>
	845	+{{/html}}
	846	+
	847	+====== __Query Model String (**QMS**)__ ======
	848	+
	849	+{{html wiki="true" clean="false"}}
	850	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	851	+Ex: #5QMS&lt;cr&gt; might return *5QMSLSS-HS1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	852	+This reply means that the servo model is LSS-HS1: a high speed servo, first revision.<div class="wikimodel-emptyline"></div>
	853	+</div></div>
	854	+{{/html}}
	855	+
	856	+====== __Query Firmware (**QF**)__ ======
	857	+
	858	+{{html wiki="true" clean="false"}}
	859	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	860	+Ex: #5QF&lt;cr&gt; might return *5QF368&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	861	+The number in the reply represents the firmware version, in this example being 368.<div class="wikimodel-emptyline"></div>
	862	+The command #5QF3&lt;cr&gt; can also be sent and the servo will reply with a 3 numbers firmware version, for example, 368.29.14<div class="wikimodel-emptyline"></div>
	863	+</div></div>
	864	+{{/html}}
	865	+
621	621	====== __Query Serial Number (**QN**)__ ======
622	622
623		-Ex: #5QN<cr> might return *5QN12345678<cr>
	868	+{{html wiki="true" clean="false"}}
	869	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	870	+Ex: #5QN&lt;cr&gt; might return *5QN12345678&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	871	+The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.<div class="wikimodel-emptyline"></div>
	872	+</div></div>
	873	+{{/html}}
624	624
625		-The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
	875	+== RGB LED ==
626	626
627		-====== __Query IMU Linear (**QIX** **QIY** **QIZ**)__ ======
	877	+====== __LED Color (**LED**)__ ======
628	628
629		-Ex: #6QIX<cr> might return *6QIX30<cr>
	879	+{{html wiki="true" clean="false"}}
	880	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	881	+Ex: #5LED3&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	882	+This action sets the servo's RGB LED color for that session.The LED can be used for aesthetics, or (based on user code) to provide visual status updates. Using timing can create patterns.<div class="wikimodel-emptyline"></div>
	883	+0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;<div class="wikimodel-emptyline"></div>
	884	+Query LED Color (**QLED**)<div class="wikimodel-emptyline"></div>
	885	+Ex: #5QLED&lt;cr&gt; might return *5QLED5&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	886	+This simple query returns the indicated servo's LED color.<div class="wikimodel-emptyline"></div>
	887	+Configure LED Color (**CLED**)<div class="wikimodel-emptyline"></div>
	888	+Ex: #5CLED3&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	889	+Configuring the LED color via the CLED command sets the startup color of the servo after a reset or power cycle. Note that it also changes the session's LED color immediately as well. The command above will configure the servo's LED to a Blue color.<div class="wikimodel-emptyline"></div>
	890	+</div></div>
	891	+{{/html}}
630	630
631		-This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
	893	+====== __Configure LED Blinking (**CLB**)__ ======
632	632
633		-====== __Query IMU Angular (**QIA** **QIB** **QIC**)__ ======
	895	+{{html wiki="true" clean="false"}}
	896	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	897	+This command allows you to control when the RGB LED will blink the user set color (see RGB LED command for details). This is very useful when visually seeing what the servo is doing. You can turn on or off blinking for various LSS status. The command requires that the servo be RESET. Here is the list and their associated value:<div class="wikimodel-emptyline"></div>
634	634
635		-Ex: #6QIB<cr> might return *6QIB44<cr>
	899	+(% style="width:195px" %)
	900	+|(% style="width:134px" %)**Blink While:**|(% style="width:58px" %)**#**
	901	+|(% style="width:134px" %)No blinking|(% style="width:58px" %)0
	902	+|(% style="width:134px" %)Limp|(% style="width:58px" %)1
	903	+|(% style="width:134px" %)Holding|(% style="width:58px" %)2
	904	+|(% style="width:134px" %)Accelerating|(% style="width:58px" %)4
	905	+|(% style="width:134px" %)Decelerating|(% style="width:58px" %)8
	906	+|(% style="width:134px" %)Free|(% style="width:58px" %)16
	907	+|(% style="width:134px" %)Travelling|(% style="width:58px" %)32
	908	+|(% style="width:134px" %)Always blink|(% style="width:58px" %)63<div class="wikimodel-emptyline"></div>
636	636
637		-This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
	910	+To set blinking, use CLB with the value of your choosing. To activate blinking in multiple status, simply add together the values of the corresponding status. See examples below:<div class="wikimodel-emptyline"></div>
	911	+Ex: #5CLB0<cr> to turn off all blinking (LED always solid)<div class="wikimodel-emptyline"></div>
	912	+Ex: #5CLB1<cr> only blink when limp (1)<div class="wikimodel-emptyline"></div>
	913	+Ex: #5CLB2<cr> only blink when holding (2)<div class="wikimodel-emptyline"></div>
	914	+Ex: #5CLB12<cr> only blink when accel or decel (accel 4 + decel 8 = 12)<div class="wikimodel-emptyline"></div>
	915	+Ex: #5CLB48<cr> only blink when free or travel (free 16 + travel 32 = 48)<div class="wikimodel-emptyline"></div>
	916	+Ex: #5CLB63<cr> blink in all status (1 + 2 + 4 + 8 + 16 + 32)<div class="wikimodel-emptyline"></div>
	917	+RESETTING the servo is needed.<div class="wikimodel-emptyline"></div>
	918	+</div></div>
	919	+{{/html}}
638	638
639		-
	921	+== RGB LED ==
	922	+
	923	+The LED can be