Summary

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Details

Page properties

Title

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

Parent

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

Author

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

Hidden

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1		-true
	1	+false

Content

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1		-{{warningBox warningText="More information coming soon"/}}
2		-
3		-
4		-
5	5	(% class="wikigeneratedid" id="HTableofContents" %)
6	6	**Page Contents**
7	7
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95	95
96	96	The ability to store a "virtual angular position" is a feature which allows for rotation beyond 360 degrees, permitting multiple rotations of the output horn, moving the center position and more. The "absolute position" would be the angle of the output shaft with respect to a 360.00 degree circle and can be obtained by taking the modulus (with respect to 360 degrees) of the value. For example if the virtual position is reported as 153350 (or 1533.50 degrees), taking the modulus would give 93.5 degrees (36000 * 4 + 9350 = 153350) as the absolute position (assuming no origin offset).
97	97
98		-[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-positions.jpg||alt="LSS-servo-positions.jpg"]]
	94	+[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-positions.jpg||alt="LSS-servo-positions.jpg"]]
99	99
100	100	In this example, the gyre direction (explained below, a.k.a. "rotation direction") is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees. The following command is sent:
101	101
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120	120
121	121	|(% colspan="8" style="color:orange; font-size:18px" %)[[**Communication Setup**>>||anchor="HCommunicationSetup"]]
122	122	|(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
123		-| |[[**Reset**>>||anchor="HReset"]]|(% style="text-align:center" %)RESET|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Soft reset. See command for details.
124		-| |[[**Default** Configuration>>||anchor="HDefault26confirm"]]|(% style="text-align:center" %)DEFAULT|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Revert to firmware default values. See command for details
125		-| |[[Firmware **Update** Mode>>||anchor="HUpdate26confirm"]]|(% style="text-align:center" %)UPDATE|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Update firmware. See command for details.
126		-| |[[**Confirm** Changes>>||anchor="HConfirm"]]|(% style="text-align:center" %)CONFIRM|(% style="text-align:center" %) |(% style="text-align:center" %) | | |
127		-| |[[**ID** Number >>||anchor="HIDNumber28ID29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QID|(% style="text-align:center" %)CID|0| |Reset required after change. ID 254 is a "broadcast" which all servos respond to.
128		-| |[[**E**nable CAN **T**erminal>>doc:||anchor="HEnableCANTerminalResistor28ET29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QET|(% style="text-align:center" %)CET| |0 or 1|0: Disable  1: Enable
129		-| |[[**U**SB **C**onnection Status>>||anchor="HUSBConnectionStatus28UC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QUC|(% style="text-align:center" %) | |0 or 1|0: Not connected 1: Connected
130		-| |[[**Q**uery **F**irmware **R**elease>>doc:||anchor="HFirmwareRelease28FR29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFR|(% style="text-align:center" %) | | |
	119	+| |[[**Reset**>>||anchor="HReset"]]|(% style="text-align:center" %)RESET|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |Soft reset
	120	+| |[[**Default** Configuration>>||anchor="HDefault"]]|(% style="text-align:center" %)DEFAULT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |Revert to firmware default values
	121	+| |[[Firmware **Update** Mode>>||anchor="HUpdate"]]|(% style="text-align:center" %)UPDATE|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |Update firmware
	122	+| |[[**Confirm** Changes>>||anchor="HConfirm"]]|(% style="text-align:center" %)CONFIRM|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |Confirm the action for some commands
	123	+| |[[**ID** Number >>||anchor="HIDNumber"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QID|(% style="text-align:center" %)CID|(% style="text-align:center" %)0|(% style="text-align:center" %) |Reset required after change. ID 254 is a "broadcast" which all servos respond to.
	124	+| |[[**E**nable CAN **T**erminal>>doc:||anchor="HEnableCANTerminalResistor"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QET|(% style="text-align:center" %)CET|(% style="text-align:center" %)1|(% style="text-align:center" %)0 or 1|0: Disable  1: Enable
	125	+| |[[**U**SB **C**onnection Status>>||anchor="HUSBConnectionStatus"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QUC|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)0 or 1|0: Not connected 1: Connected
131	131
132	132	|(% colspan="8" style="color:orange; font-size:18px" %)[[**Motion**>>||anchor="HMotion"]]
133	133	|(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
134		-| |[[Position in **D**egrees>>||anchor="HPositioninDegrees28D29"]]|(% style="text-align:center" %)D|(% style="text-align:center" %)QD/QDT|(% style="text-align:center" %) | |1/100°|
135		-| |[[**M**ove in **D**egrees (relative)>>||anchor="H28Relative29MoveinDegrees28MD29"]]|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) | |1/100°|
136		-| |[[**W**heel mode in **D**egrees>>||anchor="HWheelModeinDegrees28WD29"]]|(% style="text-align:center" %)WD|(% style="text-align:center" %)QWD/QVT|(% style="text-align:center" %) | |°/s|A.K.A. "Speed mode" or "Continuous rotation"
137		-| |[[**W**heel mode in **R**PM>>||anchor="HWheelModeinRPM28WR29"]]|(% style="text-align:center" %)WR|(% style="text-align:center" %)QWR|(% style="text-align:center" %) | |RPM|A.K.A. "Speed mode" or "Continuous rotation"
138		-| |[[**Q**uery Motion Status>>||anchor="HQueryStatus28Q29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)Q|(% style="text-align:center" %) | |1 to 8 integer|See command description for details
139		-| |[[**L**imp>>||anchor="HLimp28L29"]]|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Removes power from stepper coils
140		-| |[[**H**alt & Hold>>||anchor="HHalt26Hold28H29"]]|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Stops (halts) motion profile and holds last position
	129	+| |[[Position in **D**egrees>>||anchor="HPositioninDegrees"]]|(% style="text-align:center" %)D|(% style="text-align:center" %)QD|(% style="text-align:center" %) | |0.01°|
	130	+| |[[**M**ove in **D**egrees (relative)>>||anchor="HRelativeMoveinDegrees"]]|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) | |0.01°|
	131	+| |[[**W**heel mode in **D**egrees>>||anchor="HWheelModeinDegrees"]]|(% style="text-align:center" %)WD|(% style="text-align:center" %)QWD|(% style="text-align:center" %) | |0.01°/s|A.K.A. "Speed mode" or "Continuous rotation"
	132	+| |[[**W**heel mode in **R**PM>>||anchor="HWheelModeinRPM"]]|(% style="text-align:center" %)WR|(% style="text-align:center" %)QWR|(% style="text-align:center" %) | |RPM|A.K.A. "Speed mode" or "Continuous rotation"
	133	+| |[[**Q**uery Motion Status>>||anchor="HStatus"]]|(% style="text-align:center" %) |(% style="text-align:center" %)Q|(% style="text-align:center" %) | |1 to 8 integer|See command description for details
	134	+| |[[**Q**uery **M**otion **T**ime>>doc:||anchor="HMotionTime"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMT|(% style="text-align:center" %) | |0.01s|
	135	+| |[[**Q**uery **C**urrent **S**peed>>doc:||anchor="HCurrentSpeed"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QCS|(% style="text-align:center" %) | |0.01°/s|
	136	+| |[[**L**imp>>||anchor="HLimp"]]|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Removes power from stepper coils
	137	+| |[[**H**alt & Hold>>doc:||anchor="HHalt26Hold"]]|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Stops (halts) motion and holds last position
141	141
142	142	|(% colspan="8" style="color:orange; font-size:18px" %)[[**Motion Setup**>>||anchor="HMotionSetup"]]
143	143	|(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
144		-| |[[**O**rigin Offset>>||anchor="HOriginOffset28O29"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|0|1/10°|
145		-| |[[**A**ngular **R**ange>>||anchor="HAngularRange28AR29"]]|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|1800|1/10°|
146		-| |[[**A**ngular **A**cceleration>>||anchor="HAngularAcceleration28AA29"]]|(% style="text-align:center" %)AA|(% style="text-align:center" %)QAA|(% style="text-align:center" %)CAA|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
147		-| |[[**A**ngular **D**eceleration>>||anchor="HAngularDeceleration28AD29"]]|(% style="text-align:center" %)AD|(% style="text-align:center" %)QAD|(% style="text-align:center" %)CAD|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
148		-| |[[**G**yre Direction>>||anchor="HGyreDirection28G29"]]|(% style="text-align:center" %)G|(% style="text-align:center" %)QG|(% style="text-align:center" %)CG|1| |Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)
149		-| |[[**F**irst Position (**D**eg)>>||anchor="HFirstPosition"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFD|(% style="text-align:center" %)CFD|No value|1/10°|Reset required after change.
150		-| |[[Maximum **S**peed in **D**egrees>>||anchor="HMaximumSpeedinDegrees28SD29"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %)QSD|(% style="text-align:center" %)CSD|Max|0.1°/s|SD overwrites SR / CSD overwrites CSR and vice-versa
151		-| |[[Maximum **S**peed in **R**PM>>||anchor="HMaximumSpeedinRPM28SR29"]]|(% style="text-align:center" %)SR|(% style="text-align:center" %)QSR|(% style="text-align:center" %)CSR|Max|RPM|SD overwrites SR / CSD overwrites CSR and vice-versa
152		-| |[[Step Mode>>doc:||anchor="HStepMode28SM29"]]|(% style="text-align:center" %)SM|(% style="text-align:center" %)QM|(% style="text-align:center" %)CSM|2|1, 2, 4|Numbers represent fractions: full step, ½ step, ¼ step
	141	+| |[[**O**rigin Offset>>||anchor="HOriginOffset"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|(% style="text-align:center" %)0|(% style="text-align:center" %)0.01°|
	142	+| |[[**A**ngular **R**ange>>||anchor="HAngularRange"]]|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|(% style="text-align:center" %)36000|(% style="text-align:center" %)0.01°|
	143	+| |[[**A**ngular **A**cceleration>>||anchor="HAngularAcceleration"]]|(% style="text-align:center" %)AA|(% style="text-align:center" %)QAA|(% style="text-align:center" %)CAA|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s^2|
	144	+| |[[**A**ngular **D**eceleration>>||anchor="HAngularDeceleration"]]|(% style="text-align:center" %)AD|(% style="text-align:center" %)QAD|(% style="text-align:center" %)CAD|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s^2|
	145	+| |[[**G**yre Direction>>||anchor="HGyreDirection"]]|(% style="text-align:center" %)G|(% style="text-align:center" %)QG|(% style="text-align:center" %)CG|(% style="text-align:center" %)1|(% style="text-align:center" %)1 or -1|Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)
	146	+| |[[**F**irst Position (**D**eg)>>||anchor="HFirstPosition"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFD|(% style="text-align:center" %)CFD|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°|Reset required after change.
	147	+| |[[Maximum **S**peed in **D**egrees>>||anchor="HMaximumSpeedinDegrees"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %)QSD|(% style="text-align:center" %)CSD|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s|SD / CSD overwrites SR / CSR
	148	+| |[[Maximum **S**peed in **R**PM>>||anchor="HMaximumSpeedinRPM"]]|(% style="text-align:center" %)SR|(% style="text-align:center" %)QSR|(% style="text-align:center" %)CSR|(% style="text-align:center" %) |(% style="text-align:center" %)RPM|SR / CSR overwrites SD / CSD
153	153
154	154	|(% colspan="8" style="color:orange; font-size:18px" %)[[**Modifiers**>>||anchor="HModifiers"]]
155	155	|(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Modifier**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
156		-| |[[**S**peed in **D**egrees>>||anchor="HSpeed28S2CSD29modifier"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %) |(% style="text-align:center" %) | |1°/s|For D and MD action commands
157		-| |[[**T**imed move>>||anchor="HTimedmove28T29modifier"]]|(% style="text-align:center" %)T|(% style="text-align:center" %) |(% style="text-align:center" %) | |ms|Time associated with D, MD commands
	152	+| |[[**S**peed in **D**egrees>>doc:||anchor="HSpeed"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %) |(% style="text-align:center" %) | |0.01°/s|For D and MD action commands
	153	+| |[[**T**imed move>>||anchor="HTimedmove"]]|(% style="text-align:center" %)T|(% style="text-align:center" %) |(% style="text-align:center" %) | |ms|Time associated with D, MD commands
158	158
159	159	|(% colspan="8" style="color:orange; font-size:18px" %)[[**Telemetry**>>||anchor="HTelemetry"]]
160		-|(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
161		-| |[[**Q**uery PCB **T**emperature>>||anchor="HQueryTemperature28QT29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) | |°C|
162		-| |[[**Q**uery **C**urrent>>||anchor="HQueryCurrent28QC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QC|(% style="text-align:center" %) | |mA|Nominal RMS value to stepper motor driver IC.
163		-| |[[**Q**uery **M**odel **S**tring>>||anchor="HQueryModelString28QMS29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMS|(% style="text-align:center" %) | | |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)
164		-| |[[**Q**uery **F**irmware Version>>||anchor="HQueryFirmware28QF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | | |
165		-| |[[**Q**uery Serial **N**umber>>||anchor="HQuerySerialNumber28QN29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) | | |Returns the unique serial number for the servo
166		-| |[[**Q**uery **T**emperature **P**robe>>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" %) | | |(((
169		-QTCW: Queries the temperature status of the motor controller (pre-warning)
170		-
171		-QTCE: Queries the temperature status of the motor controller (over-temp error)
	156	+|(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="text-align:center; width:100px" %)**Default**|(% style="text-align:center; width:170px" %)**Unit**|**Notes**
	157	+| |[[PCB **T**emperature>>doc:||anchor="HTemperaturePCB"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) | |(% style="text-align:center" %)0.1°C|
	158	+| |[[**C**urrent>>doc:||anchor="HCurrent"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QC|(% style="text-align:center" %) | |(% style="text-align:center" %)mA|Nominal RMS value to stepper motor driver IC.
	159	+| |[[**M**odel **S**tring>>doc:||anchor="HModelString"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMS|(% style="text-align:center" %) | |(% style="text-align:center" %) |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)
	160	+| |[[**F**irmware Version>>doc:||anchor="HFirmware"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | |(% style="text-align:center" %) |
	161	+| |[[Serial **N**umber>>doc:||anchor="HSerialNumber"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) | |(% style="text-align:center" %) |Returns the unique serial number for the servo
	162	+| |[[**T**emperature **P**robe>>doc:||anchor="HTemperatureProbe"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | |(% style="text-align:center" %)0.1°C|Queries temperature probe fixed to the stepper motor
	163	+| |[[**T**emp of **M**CU>>doc:||anchor="HTemperatureMCU"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTM|(% style="text-align:center" %) | |(% style="text-align:center" %)0.1°C|
	164	+| |[[**T**emp of **C**ontroller **E**rror>>doc:||anchor="HTempControllerError"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCE|(% style="text-align:center" %) | |(% style="text-align:center" %) |(((
	165	+Temperature error 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)
	167	+| |[[**T**emp of **C**ontroller **W**arning>>doc:||anchor="HTempControllerWarning"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW|(% style="text-align:center" %) | |(% style="text-align:center" %) |Temperature error status of the motor controller (pre-warning)
	168	+| |[[**E**rror **F**lag>>doc:||anchor="HErrorFlag"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QEF|(% style="text-align:center" %) | |(% style="text-align:center" %) |
	169	+| |[[**I**MU Linear **X**>>doc:||anchor="HIMULinear"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |(% style="text-align:center" %)mm/s^2|
	170	+| |[[**I**MU Linear **Y**>>doc:||anchor="HIMULinear"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |(% style="text-align:center" %)mm/s^2|
	171	+| |[[**I**MU Linear **Z**>>doc:||anchor="HIMULinear"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |(% style="text-align:center" %)mm/s^2|
	172	+| |[[**I**MU Angular Accel **α** >>doc:||anchor="HIMUAngular"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |(% style="text-align:center" %)°/s^2|Query IMU Angular Accel α (Alpha)
	173	+| |[[**I**MU Angular Accel **β**>>doc:||anchor="HIMUAngular"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |(% style="text-align:center" %)°/s^2|Query IMU Angular Accel β (Beta)
	174	+| |[[**I**MU Angular Accel **γ**>>doc:||anchor="HIMUAngular"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIG|(% style="text-align:center" %) | |(% 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		-|(% 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		-| |[[**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
	177	+|(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="text-align:center; width:100px" %)**Default**|(% style="text-align:center; width:170px" %)**Unit**|**Notes**
	178	+| |[[**LED** Color>>||anchor="HLEDColor"]]|(% style="text-align:center" %)LED|(% style="text-align:center" %)QLED|(% style="text-align:center" %)CLED|(% style="text-align:center" %)3|(% style="text-align:center" %)0 to 7 integer|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White
	179	+| |[[**L**ED **B**linking>>doc:||anchor="HConfigureLEDBlinking"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QLB|(% style="text-align:center" %)CLB|(% style="text-align:center" %)0|(% style="text-align:center" %) |
	180	+| |[[**L**ED **I**ndicator>>doc:||anchor="HLEDIndicator"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QLI|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |
183	183
184	184	= (% style="color:inherit; font-family:inherit" %)Details(%%) =
185	185
...	...	@@ -189,6 +189,8 @@
189	189	====== __Reset__ ======
190	190	)))
191	191	| |(((
	190	+Reset (**RESET**)
	191	+
192	192	Ex: #5RESET<cr>
193	193
194	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.
...	...	@@ -195,9 +195,11 @@
195	195	)))
196	196
197	197	|(% colspan="2" %)(((
198		-====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
	198	+====== (% style="color:inherit; font-family:inherit" %)__Default__(%%) ======
199	199	)))
200	200	|(% style="width:30px" %) |(((
	201	+(% style="color:inherit; font-family:inherit" %)Default (**DEFAULT**)
	202	+
201	201	(% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
202	202
203	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.
...	...	@@ -210,9 +210,11 @@
210	210	)))
211	211
212	212	|(% colspan="2" %)(((
213		-====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
	215	+====== (% style="color:inherit; font-family:inherit" %)__Update__(%%) ======
214	214	)))
215	215	|(% style="width:30px" %) |(((
	218	+(% style="color:inherit; font-family:inherit" %)Update (**UPDATE**)
	219	+
216	216	(% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
217	217
218	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.
...	...	@@ -228,6 +228,8 @@
228	228	====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
229	229	)))
230	230	|(% style="width:30px" %) |(((
	235	+(% style="color:inherit; font-family:inherit" %)Confirm (**CONFIRM**)
	236	+
231	231	(% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
232	232
233	233	(% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
...	...	@@ -279,21 +279,14 @@
279	279	Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
280	280	)))
281	281
	288	+== Motion ==
	289	+
282	282	|(% colspan="2" %)(((
283		-====== __Firmware Release__ ======
	291	+====== __Position in Degrees__ ======
284	284	)))
285	285	|(% style="width:30px" %) |(((
286		-Query Firmware Release (**QFR**)
	294	+Position in Degrees (**D**)
287	287
288		-Ex: #5QFR<cr> might return *QFR11<cr> meaning it has a (random) firmware release version number 11.
289		-
290		-This is used to verify if the firmware on the servos is up to date, or which version is running on the microcontroller.
291		-)))
292		-
293		-== Motion ==
294		-
295		-====== __Position in Degrees (**D**)__ ======
296		-
297	297	Example: #5D1456<cr>
298	298
299	299	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.
...	...	@@ -311,16 +311,28 @@
311	311	Ex: #5QDT<cr> might return *5QDT6783<cr>
312	312
313	313	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.
	313	+)))
314	314
315		-====== __(Relative) Move in Degrees (**MD**)__ ======
	315	+|(% colspan="2" %)(((
	316	+====== __Relative Move in Degrees__ ======
	317	+)))
	318	+|(% style="width:30px" %) |(((
	319	+(% class="wikigeneratedid" %)
	320	+Move in Degrees (**MD**)
316	316
	322	+(% class="wikigeneratedid" %)
	323	+Example: #5M1500<cr>
317	317
318		-Example: #5MD123<cr>
	325	+(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
	326	+The relative move in PWM command causes the servo to read its current position and move by the specified number of PWM signal. For example if the servo is set to rotate CW (default) and an M command of 1500 is sent to the servo, it will cause the servo to rotate clockwise by 90 degrees. Negative PWM value would cause the servo to rotate in the opposite configured direction.
	327	+)))
319	319
320		-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.
	329	+|(% colspan="2" %)(((
	330	+====== __Wheel Mode in Degrees__ ======
	331	+)))
	332	+|(% style="width:30px" %) |(((
	333	+Wheel mode in Degrees (**WD**)
321	321
322		-====== __Wheel Mode in Degrees (**WD**)__ ======
323		-
324	324	Ex: #5WD90<cr>
325	325
326	326	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).
...	...	@@ -330,8 +330,13 @@
330	330	Ex: #5QWD<cr> might return *5QWD90<cr>
331	331
332	332	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).
	344	+)))
333	333
334		-====== __Wheel Mode in RPM (**WR**)__ ======
	346	+|(% colspan="2" %)(((
	347	+====== __Wheel Mode in RPM__ ======
	348	+)))
	349	+|(% style="width:30px" %) |(((
	350	+Wheel moed in RPM (**WR**)
335	335
336	336	Ex: #5WR40<cr>
337	337
...	...	@@ -342,17 +342,14 @@
342	342	Ex: #5QWR<cr> might return *5QWR40<cr>
343	343
344	344	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).
	361	+)))
345	345
346		-====== __(Relative) Move in Degrees (**MD**)__ ======
	363	+|(% colspan="2" %)(((
	364	+====== __Status__ ======
	365	+)))
	366	+|(% style="width:30px" %) |(((
	367	+Query Status (**Q**)
347	347
348		-(% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
349		-Example: #5M1500<cr>
350		-
351		-(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
352		-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.
353		-
354		-====== __Query Status (**Q**)__ ======
355		-
356	356	The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
357	357
358	358	Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
...	...	@@ -364,7 +364,7 @@
364	364	| |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
365	365	| |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
366	366	| |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
367		-| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will nornally be holding)
	380	+| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will normally be holding)
368	368	| |ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
369	369	| |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
370	370	| |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
...	...	@@ -381,31 +381,54 @@
381	381	| |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
382	382	| |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
383	383	| |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
	397	+)))
384	384
385		-====== __Limp (**L**)__ ======
	399	+|(% colspan="2" %)(((
	400	+====== __Motion Time__ ======
	401	+)))
	402	+|(% style="width:30px" %) |(((
	403	+Query Motion Time (**QMT**)
	404	+)))
386	386
	406	+|(% colspan="2" %)(((
	407	+====== __Current Speed__ ======
	408	+)))
	409	+|(% style="width:30px" %) |(((
	410	+Query Current Speed (**QCS**)
	411	+)))
	412	+
	413	+|(% colspan="2" %)(((
	414	+====== __Limp__ ======
	415	+)))
	416	+|(% style="width:30px" %) |(((
387	387	Example: #5L<cr>
388	388
389	389	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>.
	420	+)))
390	390
391		-====== __Halt & Hold (**H**)__ ======
392		-
	422	+|(% colspan="2" %)(((
	423	+====== __Halt & Hold__ ======
	424	+)))
	425	+|(% style="width:30px" %) |(((
393	393	Example: #5H<cr>
394	394
395	395	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.)
	429	+)))
396	396
397	397	== Motion Setup ==
398	398
399		-====== __Origin Offset (**O**)__ ======
400		-
	433	+|(% colspan="2" %)(((
	434	+====== __Origin Offset__ ======
	435	+)))
	436	+|(% style="width:30px" %) |(((
401	401	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).
402	402
403		-[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]
	439	+[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]
404	404
405	405
406	406	In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
407	407
408		-[[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"]]
	444	+[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-origin.jpg||alt="LSS-servo-origin.jpg"]]
409	409
410	410
411	411	Origin Offset Query (**QO**)
...	...	@@ -419,23 +419,26 @@
419	419	Example: #5CO-24<cr>
420	420
421	421	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.
	458	+)))
422	422
423		-====== __Angular Range (**AR**)__ ======
424		-
	460	+|(% colspan="2" %)(((
	461	+====== __Angular Range__ ======
	462	+)))
	463	+|(% style="width:30px" %) |(((
425	425	Example: #5AR1800<cr>
426	426
427	427	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:
428	428
429		-[[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"]]
	468	+[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]
430	430
431	431	Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
432	432
433		-[[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"]]
	472	+[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar.jpg||alt="LSS-servo-ar.jpg"]]
434	434
435	435
436	436	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:
437	437
438		-[[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"]]
	477	+[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar-o-1.jpg||alt="LSS-servo-ar-o-1.jpg"]]
439	439
440	440
441	441	Query Angular Range (**QAR**)
...	...	@@ -445,9 +445,12 @@
445	445	Configure Angular Range (**CAR**)
446	446
447	447	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.
	487	+)))
448	448
449		-====== __Angular Acceleration (**AA**)__ ======
450		-
	489	+|(% colspan="2" %)(((
	490	+====== __Angular Acceleration__ ======
	491	+)))
	492	+|(% style="width:30px" %) |(((
451	451	The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
452	452
453	453	Ex: #5AA30<cr>
...	...	@@ -465,9 +465,12 @@
465	465	Ex: #5CAA30<cr>
466	466
467	467	This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
	510	+)))
468	468
469		-====== __Angular Deceleration (**AD**)__ ======
470		-
	512	+|(% colspan="2" %)(((
	513	+====== __Angular Deceleration__ ======
	514	+)))
	515	+|(% style="width:30px" %) |(((
471	471	The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
472	472
473	473	Ex: #5AD30<cr>
...	...	@@ -485,9 +485,12 @@
485	485	Ex: #5CAD30<cr>
486	486
487	487	This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
	533	+)))
488	488
489		-====== __Gyre Direction (**G**)__ ======
490		-
	535	+|(% colspan="2" %)(((
	536	+====== __Gyre Direction__ ======
	537	+)))
	538	+|(% style="width:30px" %) |(((
491	491	"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.
492	492
493	493	Ex: #5G-1<cr>
...	...	@@ -505,15 +505,43 @@
505	505	Ex: #5CG-1<cr>
506	506
507	507	This changes the gyre direction as described above and also writes to EEPROM.
	556	+)))
508	508
	558	+|(% colspan="2" %)(((
509	509	====== __First Position__ ======
	560	+)))
	561	+|(% style="width:30px" %) |(((
	562	+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.
510	510
511		-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>
	564	+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.
512	512
513		-====== __Maximum Speed in Degrees (**SD**)__ ======
	566	+Query First Position in Degrees (**QFD**)
514	514
515		-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:
	568	+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.
516	516
	570	+Configure First Position in Degrees (**CFD**)
	571	+
	572	+Ex: #5CFD900<cr>
	573	+
	574	+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>
	575	+)))
	576	+
	577	+|(% colspan="2" %)(((
	578	+====== __Maximum Speed in Degrees__ ======
	579	+)))
	580	+|(% style="width:30px" %) |(((
	581	+Maximum Speed in Degrees (**SD**)
	582	+
	583	+Ex: #5SD1800<cr>
	584	+
	585	+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.
	586	+
	587	+Query Speed in Degrees (**QSD**)
	588	+
	589	+Ex: #5QSD<cr> might return *5QSD1800<cr>
	590	+
	591	+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:
	592	+
517	517	|**Command sent**|**Returned value (1/10 °)**
518	518	|ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
519	519	|ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
...	...	@@ -520,43 +520,64 @@
520	520	|ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
521	521	|ex: #5QSD3<cr>|Target travel speed
522	522
523		-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.
	599	+Configure Speed in Degrees (**CSD**)
524	524
525		-====== __Maximum Speed in RPM (**SR**)__ ======
	601	+Ex: #5CSD1800<cr>
526	526
527		-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:
	603	+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.
	604	+)))
528	528
529		-|**Command sent**|**Returned value (1/10 °)**
530		-|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
531		-|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
532		-|ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
533		-|ex: #5QSR3<cr>|Target travel speed
	606	+|(% colspan="2" %)(((
	607	+====== __Maximum Speed in RPM__ ======
	608	+)))
	609	+|(% style="width:30px" %) |(((
	610	+(% class="wikigeneratedid" %)
	611	+Maximum Speed in RPM (**SR**)
534	534
535		-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.
	613	+(% class="wikigeneratedid" id="HEx:235SR453Ccr3EThiscommandsetstheservo27smaximumspeedformotioncommandsinrpmforthatsession.Intheexampleabove2Ctheservo27smaximumspeedforthatsessionwouldbesetto45rpm.Theservo27smaximumspeedcannotbesethigherthanitsphysicallimitatagivenvoltage.SRoverridesCSR28describedbelow29forthatsession.Uponresetorpowercycle2CtheservorevertstothevalueassociatedwithCSRasdescribedbelow.NotethatSD28describedabove29andSRareeffectivelythesame2Cbutallowtheusertospecifythespeedineitherunit.Thelastcommand28eitherSRorSD29receivediswhattheservousesforthatsession.QuerySpeedinRPM28QSR29Ex:235QSR3Ccr3Emightreturn2A5QSR453Ccr3EBydefaultQSRwillreturnthecurrentsessionvalue2CwhichissettothevalueofCSRasreset2FpowercycleandchangedwheneveranSD2FSRcommandisprocessed.If235QSR13Ccr3Eissent2Ctheconfiguredmaximumspeed28CSRvalue29willbereturnedinstead.Youcanalsoquerythecurrentspeedusing22222andthecurrenttargettravelspeedusing22322.Seethetablebelowforanexample:" %)
	614	+Ex: #5SR45<cr>
536	536
537		-====== __Step Mode (**SM**)__ ======
	616	+(% class="wikigeneratedid" %)
	617	+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.
538	538
539		-Ex: #8SM2<cr>
	619	+(% class="wikigeneratedid" %)
	620	+Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit.
540	540
541		-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.
	622	+(% class="wikigeneratedid" %)
	623	+The last command (either SR or SD) received is what the servo uses for that session.
542	542
543		-Note that the torque and max RPM of the actuator will be affected.
	625	+(% class="wikigeneratedid" %)
	626	+Query Speed in RPM (**QSR**)
544	544
545		-Query Step Mode (**QSM**)
	628	+(% class="wikigeneratedid" %)
	629	+Ex: #5QSR<cr> might return *5QSR45<cr>
546	546
547		-Ex: #8QSM<cr> might return *8QSM2<cr> meaning servo with ID 8 is set to half step mode.
	631	+(% class="wikigeneratedid" %)
	632	+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:
548	548
549		-Configure Step Mode (**CSM**)
	634	+|**Command sent**|**Returned value (1/10 °)**
	635	+|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
	636	+|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
	637	+|ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
	638	+|ex: #5QSR3<cr>|Target travel speed
550	550
551		-Ex: #8SM2<cr>
	640	+Configure Speed in RPM (**CSR**)
552	552
553		-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.
	642	+Ex: #5CSR45<cr>
554	554
	644	+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.
	645	+)))
	646	+
555	555	== Modifiers ==
556	556
557		-====== __Speed (**SD**) modifier__ ======
	649	+|(% colspan="2" %)(((
	650	+====== __Speed __ ======
	651	+)))
	652	+|(% style="width:30px" %) |(((
	653	+(% class="wikigeneratedid" %)
	654	+Speed in Degrees (**SD**)
558	558
559		-(% class="wikigeneratedid" id="HTimedmove28T29modifier" %)
	656	+(% class="wikigeneratedid" id="HExample:235D0SD1803Ccr3E" %)
560	560	Example: #5D0SD180<cr>
561	561
562	562	(% class="wikigeneratedid" %)
...	...	@@ -570,8 +570,13 @@
570	570
571	571	(% class="wikigeneratedid" %)
572	572	This command queries the current speed in microseconds per second.
	670	+)))
573	573
574		-====== __Timed move (**T**) modifier__ ======
	672	+|(% colspan="2" %)(((
	673	+====== __Timed move__ ======
	674	+)))
	675	+|(% style="width:30px" %) |(((
	676	+Timed Move (**T**)
575	575
576	576	Example: #5D15000T2500<cr>
577	577
...	...	@@ -578,61 +578,155 @@
578	578	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.
579	579
580	580	**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
	683	+)))
581	581
582		-====== ======
583		-
584	584	== Telemetry ==
585	585
586		-====== __Query PCB Temperature (**QT**)__ ======
	687	+|(% colspan="2" %)(((
	688	+====== __Temperature PCB__ ======
	689	+)))
	690	+|(% style="width:30px" %) |(((
	691	+Query Temp PCB (**QT**)
587	587
588	588	Ex: #5QT<cr> might return *5QT564<cr>
589	589
590	590	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.
	696	+)))
591	591
592		-====== __Query Temperature Probe (**QTP**)__ ======
	698	+|(% colspan="2" %)(((
	699	+====== __Current__ ======
	700	+)))
	701	+|(% style="width:30px" %) |(((
	702	+(% class="wikigeneratedid" %)
	703	+Query Current (**QC**)
593	593
594		-Ex:
595		-
596		-====== __Query Temp of Controller (**QTCW**)__ ======
597		-
598		-Ex:
599		-
600		-An alternative is QTCE
601		-
602		-====== __Query Current (**QC**)__ ======
603		-
	705	+(% class="wikigeneratedid" id="HEx:235QC3Ccr3Emightreturn2A5QC1403Ccr3E" %)
604	604	Ex: #5QC<cr> might return *5QC140<cr>
605	605
606	606	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.
	709	+)))
607	607
608		-====== __Query Model String (**QMS**)__ ======
	711	+|(% colspan="2" %)(((
	712	+====== __Model String__ ======
	713	+)))
	714	+|(% style="width:30px" %) |(((
	715	+(% class="wikigeneratedid" %)
	716	+Query Model String (**QMS**)
609	609
	718	+(% class="wikigeneratedid" id="HEx:235QMS3Ccr3Emightreturn2A5QMSLSS-HS13Ccr3E" %)
610	610	Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
611	611
612	612	This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
	722	+)))
613	613
614		-====== __Query Firmware (**QF**)__ ======
	724	+|(% colspan="2" %)(((
	725	+====== __Firmware__ ======
	726	+)))
	727	+|(% style="width:30px" %) |(((
	728	+Query Firmware (**QF**)
615	615
616	616	Ex: #5QF<cr> might return *5QF368<cr>
617	617
618	618	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
	733	+)))
619	619
620		-====== __Query Serial Number (**QN**)__ ======
	735	+|(% colspan="2" %)(((
	736	+====== __Serial Number__ ======
	737	+)))
	738	+|(% style="width:30px" %) |(((
	739	+(% class="wikigeneratedid" %)
	740	+Query Serial Number (**QN**)
621	621
	742	+(% class="wikigeneratedid" id="HEx:235QN3Ccr3Emightreturn2A5QN123456783Ccr3E" %)
622	622	Ex: #5QN<cr> might return *5QN12345678<cr>
623	623
624	624	The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
	746	+)))
625	625
626		-====== __Query IMU Linear (**QIX** **QIY** **QIZ**)__ ======
	748	+|(% colspan="2" %)(((
	749	+====== __Temperature Probe__ ======
	750	+)))
	751	+|(% style="width:30px" %) |(((
	752	+Query Temp motor Probe (**QTP**)
	753	+)))
627	627
628		-Ex: #6QIX<cr> might return *6QIX30<cr>
	755	+|(% colspan="2" %)(((
	756	+====== __Temperature MCU__ ======
	757	+)))
	758	+|(% style="width:30px" %) |(((
	759	+Query Temp MCU (**QTM**)
	760	+)))
629	629
630		-This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
	762	+|(% colspan="2" %)(((
	763	+====== __Temp Controller Error__ ======
	764	+)))
	765	+|(% style="width:30px" %) |(((
	766	+(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
	767	+Query Temp Controller Error (**QTCE**)
	768	+)))
631	631
632		-====== __Query IMU Angular (**QIA** **QIB** **QIC**)__ ======
	770	+|(% colspan="2" %)(((
	771	+====== __Temp Controller Warning__ ======
	772	+)))
	773	+|(% style="width:30px" %) |(((
	774	+(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
	775	+Query Temp Controller Warning (**QTCW**)
	776	+)))
633	633
	778	+|(% colspan="2" %)(((
	779	+====== __Error Flag__ ======
	780	+)))
	781	+|(% style="width:30px" %) |(((
	782	+Query Error Flag (**QEF**)
	783	+)))
	784	+
	785	+|(% colspan="2" %)(((
	786	+====== __IMU Linear__ ======
	787	+)))
	788	+|(% style="width:30px" %) |(((
	789	+(% class="wikigeneratedid" %)
	790	+Query IMU Linear (**QIX QIY QIZ**)
	791	+
	792	+====== Ex: #6QIX<cr> might return *6QIX30<cr> ======
	793	+
	794	+This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
	795	+)))
	796	+
	797	+|(% colspan="2" %)(((
	798	+====== __IMU Angular__ ======
	799	+)))
	800	+|(% style="width:30px" %) |(((
	801	+(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
	802	+Query IMU Angular (**QIA QIB QIG**)
634	634	Ex: #6QIB<cr> might return *6QIB44<cr>
635	635
636	636	This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
	806	+)))
637	637
	808	+== RGB LED ==
	809	+
	810	+|(% colspan="2" %)(((
	811	+====== __LED Color__ ======
	812	+)))
	813	+|(% style="width:30px" %) |(((
	814	+(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
638	638
	816	+)))
	817	+
	818	+|(% colspan="2" %)(((
	819	+====== __LED Blinking__ ======
	820	+)))
	821	+|(% style="width:30px" %) |(((
	822	+(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
	823	+
	824	+)))
	825	+
	826	+|(% colspan="2" %)(((
	827	+====== __LED Indicator__ ======
	828	+)))
	829	+|(% style="width:30px" %) |(((
	830	+(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
	831	+
	832	+)))
	833	+
	834	+