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Title

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

Content

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1		-{{warningBox warningText="More information coming soon"/}}
2		-
3	3	(% class="wikigeneratedid" id="HTableofContents" %)
4	4	**Page Contents**
5	5
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93	93
94	94	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).
95	95
96		-[[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"]]
97	97
98	98	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:
99	99
...	...	@@ -118,62 +118,62 @@
118	118
119	119	|(% colspan="8" style="color:orange; font-size:18px" %)[[**Communication Setup**>>||anchor="HCommunicationSetup"]]
120	120	|(% 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**
121		-| |[[**Reset**>>||anchor="HReset"]]|(% style="text-align:center" %)RESET|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Soft reset. See command for details.
122		-| |[[**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
123		-| |[[Firmware **Update** Mode>>||anchor="HUpdate26confirm"]]|(% style="text-align:center" %)UPDATE|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Update firmware. See command for details.
124		-| |[[**Confirm** Changes>>||anchor="HConfirm"]]|(% style="text-align:center" %)CONFIRM|(% style="text-align:center" %) |(% style="text-align:center" %) | | |
125		-| |[[**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.
126		-| |[[**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
127		-| |[[**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
128		-| |[[**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
129	129
130	130	|(% colspan="8" style="color:orange; font-size:18px" %)[[**Motion**>>||anchor="HMotion"]]
131	131	|(% 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**
132		-| |[[Position in **D**egrees>>||anchor="HPositioninDegrees28D29"]]|(% style="text-align:center" %)D|(% style="text-align:center" %)QD/QDT|(% style="text-align:center" %) | |1/100°|
133		-| |[[**M**ove in **D**egrees (relative)>>||anchor="H28Relative29MoveinDegrees28MD29"]]|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) | |1/100°|
134		-| |[[**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"
135		-| |[[**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"
136		-| |[[**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
137		-| |[[**L**imp>>||anchor="HLimp28L29"]]|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Removes power from stepper coils
138		-| |[[**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
139	139
140	140	|(% colspan="8" style="color:orange; font-size:18px" %)[[**Motion Setup**>>||anchor="HMotionSetup"]]
141	141	|(% 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**
142		-| |[[**O**rigin Offset>>||anchor="HOriginOffset28O29"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|0|1/10°|
143		-| |[[**A**ngular **R**ange>>||anchor="HAngularRange28AR29"]]|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|1800|1/10°|
144		-| |[[**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).
145		-| |[[**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).
146		-| |[[**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)
147		-| |[[**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.
148		-| |[[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
149		-| |[[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
150		-| |[[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
151	151
152	152	|(% colspan="8" style="color:orange; font-size:18px" %)[[**Modifiers**>>||anchor="HModifiers"]]
153	153	|(% 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**
154		-| |[[**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
155		-| |[[**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
156	156
157	157	|(% colspan="8" style="color:orange; font-size:18px" %)[[**Telemetry**>>||anchor="HTelemetry"]]
158	158	|(% 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		-| |[[**Q**uery PCB **T**emperature>>||anchor="HQueryTemperature28QT29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) | |°C|
160		-| |[[**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.
161		-| |[[**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)
162		-| |[[**Q**uery **F**irmware Version>>||anchor="HQueryFirmware28QF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | | |
163		-| |[[**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
164		-| |[[**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
165		-| |[[**Q**uery **T**emp of **M**CU>>doc:||anchor="HQueryMCUTemperature28QTM29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTM|(% style="text-align:center" %) | | |
166		-| |[[**Q**uery **T**emp of **C**ontroller>>doc:||anchor="HQueryTempofController28QTCW29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW, QTCE|(% style="text-align:center" %) | | |(((
167		-QTCW: Queries the temperature status of the motor controller (pre-warning)
168		-
169		-QTCE: Queries the temperature status of the motor controller (over-temp error)
	157	+| |[[PCB **T**emperature>>doc:||anchor="HTemperaturePCB"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) | |0.1°C|
	158	+| |[[**C**urrent>>doc:||anchor="HCurrent"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QC|(% style="text-align:center" %) | |mA|Nominal RMS value to stepper motor driver IC.
	159	+| |[[**M**odel **S**tring>>doc:||anchor="HModelString"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMS|(% style="text-align:center" %) | | |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)
	160	+| |[[**F**irmware Version>>doc:||anchor="HFirmware"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | | |
	161	+| |[[Serial **N**umber>>doc:||anchor="HSerialNumber"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) | | |Returns the unique serial number for the servo
	162	+| |[[**T**emperature **P**robe>>doc:||anchor="HTemperatureProbe"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | |0.1°C|Queries temperature probe fixed to the stepper motor
	163	+| |[[**T**emp of **M**CU>>doc:||anchor="HTemperatureMCU"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTM|(% style="text-align:center" %) | |0.1°C|
	164	+| |[[**T**emp of **C**ontroller **E**rror>>doc:||anchor="HTempControllerError"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCE|(% style="text-align:center" %) | | |(((
	165	+Temperature error status of the motor controller (over-temp error)
170	170	)))
171		-| |[[**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|
172		-| |[[**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|
173		-| |[[**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|
174		-| |[[**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)
175		-| |[[**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)
176		-| |[[**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" %) | | |Temperature error status of the motor controller (pre-warning)
	168	+| |[[**E**rror **F**lag>>doc:||anchor="HErrorFlag"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QEF|(% style="text-align:center" %) | | |
	169	+| |[[**I**MU Linear **X**>>doc:||anchor="HIMULinear"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |mm/s^2|
	170	+| |[[**I**MU Linear **Y**>>doc:||anchor="HIMULinear"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |mm/s^2|
	171	+| |[[**I**MU Linear **Z**>>doc:||anchor="HIMULinear"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2|
	172	+| |[[**I**MU Angular Accel **α** >>doc:||anchor="HIMUAngular"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel α (Alpha)
	173	+| |[[**I**MU Angular Accel **β**>>doc:||anchor="HIMUAngular"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel β (Beta)
	174	+| |[[**I**MU Angular Accel **γ**>>doc:||anchor="HIMUAngular"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIG|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel γ (Gamma)
177	177
178	178	|(% colspan="8" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="HRGBLED"]]
179	179	|(% 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**
...	...	@@ -187,6 +187,8 @@
187	187	====== __Reset__ ======
188	188	)))
189	189	| |(((
	188	+Reset (**RESET**)
	189	+
190	190	Ex: #5RESET<cr>
191	191
192	192	This command does a "soft reset" and reverts all commands to those stored in EEPROM (i.e. configuration commands). Note: after a RESET command is received, the LSS will restart and perform initilization again, making it unavailable on the bus for a bit. See Session, note #2 for more details.
...	...	@@ -193,9 +193,11 @@
193	193	)))
194	194
195	195	|(% colspan="2" %)(((
196		-====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
	196	+====== (% style="color:inherit; font-family:inherit" %)__Default__(%%) ======
197	197	)))
198	198	|(% style="width:30px" %) |(((
	199	+(% style="color:inherit; font-family:inherit" %)Default (**DEFAULT**)
	200	+
199	199	(% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
200	200
201	201	(% 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.
...	...	@@ -208,9 +208,11 @@
208	208	)))
209	209
210	210	|(% colspan="2" %)(((
211		-====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
	213	+====== (% style="color:inherit; font-family:inherit" %)__Update__(%%) ======
212	212	)))
213	213	|(% style="width:30px" %) |(((
	216	+(% style="color:inherit; font-family:inherit" %)Update (**UPDATE**)
	217	+
214	214	(% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
215	215
216	216	(% 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.
...	...	@@ -226,6 +226,8 @@
226	226	====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
227	227	)))
228	228	|(% style="width:30px" %) |(((
	233	+(% style="color:inherit; font-family:inherit" %)Confirm (**CONFIRM**)
	234	+
229	229	(% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
230	230
231	231	(% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
...	...	@@ -277,17 +277,6 @@
277	277	Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
278	278	)))
279	279
280		-|(% colspan="2" %)(((
281		-====== __Firmware Release__ ======
282		-)))
283		-|(% style="width:30px" %) |(((
284		-Query Firmware Release (**QFR**)
285		-
286		-Ex: #5QFR<cr> might return *QFR11<cr> meaning it has a (random) firmware release version number 11.
287		-
288		-This is used to verify if the firmware on the servos is up to date, or which version is running on the microcontroller.
289		-)))
290		-
291	291	== Motion ==
292	292
293	293	|(% colspan="2" %)(((
...	...	@@ -316,14 +316,17 @@
316	316	)))
317	317
318	318	|(% colspan="2" %)(((
319		-====== __(Relative) Move in Degrees__ ======
	314	+====== __Relative Move in Degrees__ ======
320	320	)))
321	321	|(% style="width:30px" %) |(((
	317	+(% class="wikigeneratedid" %)
322	322	Move in Degrees (**MD**)
323	323
324		-Example: #5MD123<cr>
	320	+(% class="wikigeneratedid" %)
	321	+Example: #5M1500<cr>
325	325
326		-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.
	323	+(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
	324	+The relative move in PWM command causes the servo to read its current position and move by the specified number of PWM signal. For example if the servo is set to rotate CW (default) and an M command of 1500 is sent to the servo, it will cause the servo to rotate clockwise by 90 degrees. Negative PWM value would cause the servo to rotate in the opposite configured direction.
327	327	)))
328	328
329	329	|(% colspan="2" %)(((
...	...	@@ -361,23 +361,9 @@
361	361	)))
362	362
363	363	|(% colspan="2" %)(((
364		-====== __(Relative) Move in Degrees__ ======
	362	+====== __Status__ ======
365	365	)))
366	366	|(% style="width:30px" %) |(((
367		-(% class="wikigeneratedid" %)
368		-Move in Degrees (**MD**)
369		-
370		-(% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
371		-Example: #5M1500<cr>
372		-
373		-(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
374		-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.
375		-)))
376		-
377		-|(% colspan="2" %)(((
378		-====== __Query Status__ ======
379		-)))
380		-|(% style="width:30px" %) |(((
381	381	Query Status (**Q**)
382	382
383	383	The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
...	...	@@ -411,11 +411,23 @@
411	411	)))
412	412
413	413	|(% colspan="2" %)(((
414		-====== __Limp__ ======
	398	+====== __Motion Time__ ======
415	415	)))
416	416	|(% style="width:30px" %) |(((
417		-Limp (**L**)
	401	+Query Motion Time (**QMT**)
	402	+)))
418	418
	404	+|(% colspan="2" %)(((
	405	+====== __Current Speed__ ======
	406	+)))
	407	+|(% style="width:30px" %) |(((
	408	+Query Current Speed (**QCS**)
	409	+)))
	410	+
	411	+|(% colspan="2" %)(((
	412	+====== __Limp__ ======
	413	+)))
	414	+|(% style="width:30px" %) |(((
419	419	Example: #5L<cr>
420	420
421	421	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>.
...	...	@@ -425,8 +425,6 @@
425	425	====== __Halt & Hold__ ======
426	426	)))
427	427	|(% style="width:30px" %) |(((
428		-Halt & Hold (**H**)
429		-
430	430	Example: #5H<cr>
431	431
432	432	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.)
...	...	@@ -434,16 +434,18 @@
434	434
435	435	== Motion Setup ==
436	436
437		-====== __Origin Offset (**O**)__ ======
438		-
	431	+|(% colspan="2" %)(((
	432	+====== __Origin Offset__ ======
	433	+)))
	434	+|(% style="width:30px" %) |(((
439	439	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).
440	440
441		-[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]
	437	+[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]
442	442
443	443
444	444	In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
445	445
446		-[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-origin.jpg||alt="LSS-servo-origin.jpg"]]
	442	+[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-origin.jpg||alt="LSS-servo-origin.jpg"]]
447	447
448	448
449	449	Origin Offset Query (**QO**)
...	...	@@ -457,23 +457,26 @@
457	457	Example: #5CO-24<cr>
458	458
459	459	This command allows you to change the origin of the servo in relation to the factory zero position in EEPROM. The setting will be saved upon servo reset / power cycle. Origin offset configuration commands are not cumulative and always relate to factory zero. The new origin is also used in RC mode. In the example, the new origin will be at -2.4 degrees from the factory zero.
	456	+)))
460	460
461		-====== __Angular Range (**AR**)__ ======
462		-
	458	+|(% colspan="2" %)(((
	459	+====== __Angular Range__ ======
	460	+)))
	461	+|(% style="width:30px" %) |(((
463	463	Example: #5AR1800<cr>
464	464
465	465	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:
466	466
467		-[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]
	466	+[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]
468	468
469	469	Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
470	470
471		-[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar.jpg||alt="LSS-servo-ar.jpg"]]
	470	+[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar.jpg||alt="LSS-servo-ar.jpg"]]
472	472
473	473
474	474	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:
475	475
476		-[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar-o-1.jpg||alt="LSS-servo-ar-o-1.jpg"]]
	475	+[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar-o-1.jpg||alt="LSS-servo-ar-o-1.jpg"]]
477	477
478	478
479	479	Query Angular Range (**QAR**)
...	...	@@ -483,9 +483,12 @@
483	483	Configure Angular Range (**CAR**)
484	484
485	485	This command allows you to change the total angular range of the servo in tenths of degrees in EEPROM. The setting will be saved upon servo reset / power cycle.
	485	+)))
486	486
487		-====== __Angular Acceleration (**AA**)__ ======
488		-
	487	+|(% colspan="2" %)(((
	488	+====== __Angular Acceleration__ ======
	489	+)))
	490	+|(% style="width:30px" %) |(((
489	489	The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
490	490
491	491	Ex: #5AA30<cr>
...	...	@@ -503,9 +503,12 @@
503	503	Ex: #5CAA30<cr>
504	504
505	505	This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
	508	+)))
506	506
507		-====== __Angular Deceleration (**AD**)__ ======
508		-
	510	+|(% colspan="2" %)(((
	511	+====== __Angular Deceleration__ ======
	512	+)))
	513	+|(% style="width:30px" %) |(((
509	509	The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
510	510
511	511	Ex: #5AD30<cr>
...	...	@@ -523,9 +523,12 @@
523	523	Ex: #5CAD30<cr>
524	524
525	525	This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
	531	+)))
526	526
527		-====== __Gyre Direction (**G**)__ ======
528		-
	533	+|(% colspan="2" %)(((
	534	+====== __Gyre Direction__ ======
	535	+)))
	536	+|(% style="width:30px" %) |(((
529	529	"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.
530	530
531	531	Ex: #5G-1<cr>
...	...	@@ -543,15 +543,43 @@
543	543	Ex: #5CG-1<cr>
544	544
545	545	This changes the gyre direction as described above and also writes to EEPROM.
	554	+)))
546	546
	556	+|(% colspan="2" %)(((
547	547	====== __First Position__ ======
	558	+)))
	559	+|(% style="width:30px" %) |(((
	560	+In certain cases, a user might want to have the servo move to a specific angle upon power up; we refer to this as "first position" (a.k.a. "initial position"). The factory default has no first position value stored in EEPROM and therefore upon power up, the servo remains limp until a position (or hold command) is assigned.
548	548
549		-In certain cases, a user might want to have the servo move to a specific angle upon power up; we refer to this as "first position" (a.k.a. "initial position"). The factory default has no first position value stored in EEPROM and therefore upon power up, the servo remains limp until a position (or hold command) is assigned. Note that the number should be restricted to -1790 (-179.0 degrees) to +1790 (179.0 degrees) and values beyond this will be changed to 1800.Query First Position in Degrees (**QFD**)Ex: #5QFD<cr> might return *5QFD900<cr>The reply above indicates that servo with ID 5 has a first position of 90.0 degrees. If there is no first position value stored, the reply will be DIS.Configure First Position in Degrees (**CFD**)Ex: #5CFD900<cr>This configuration command means the servo, when set to smart mode, will immediately move to 90.0 degrees upon power up. Sending a CFD command without a number (Ex. #5CFD<cr>) results in the servo remaining limp upon power up. In order to remove the first position, send no value, ex: #5CFD<cr>
	562	+Note that the number should be restricted to -1790 (-179.0 degrees) to +1790 (179.0 degrees) and values beyond this will be changed to 1800.
550	550
551		-====== __Maximum Speed in Degrees (**SD**)__ ======
	564	+Query First Position in Degrees (**QFD**)
552	552
553		-Ex: #5SD1800<cr>This command sets the servo's maximum speed for motion commands in tenths of degrees per second for that session. In the example above, the servo's maximum speed for that session would be set to 180.0 degrees per second. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. The SD action command overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD and SR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.Query Speed in Degrees (**QSD**)Ex: #5QSD<cr> might return *5QSD1800<cr>By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever an SD/SR command is processed. If #5QSD1<cr> is sent, the configured maximum speed (CSD value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
	566	+Ex: #5QFD<cr> might return *5QFD900<cr>The reply above indicates that servo with ID 5 has a first position of 90.0 degrees. If there is no first position value stored, the reply will be DIS.
554	554
	568	+Configure First Position in Degrees (**CFD**)
	569	+
	570	+Ex: #5CFD900<cr>
	571	+
	572	+This configuration command means the servo, when set to smart mode, will immediately move to 90.0 degrees upon power up. Sending a CFD command without a number (Ex. #5CFD<cr>) results in the servo remaining limp upon power up. In order to remove the first position, send no value, ex: #5CFD<cr>
	573	+)))
	574	+
	575	+|(% colspan="2" %)(((
	576	+====== __Maximum Speed in Degrees__ ======
	577	+)))
	578	+|(% style="width:30px" %) |(((
	579	+Maximum Speed in Degrees (**SD**)
	580	+
	581	+Ex: #5SD1800<cr>
	582	+
	583	+This command sets the servo's maximum speed for motion commands in tenths of degrees per second for that session. In the example above, the servo's maximum speed for that session would be set to 180.0 degrees per second. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. The SD action command overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD and SR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.
	584	+
	585	+Query Speed in Degrees (**QSD**)
	586	+
	587	+Ex: #5QSD<cr> might return *5QSD1800<cr>
	588	+
	589	+By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever an SD/SR command is processed. If #5QSD1<cr> is sent, the configured maximum speed (CSD value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
	590	+
555	555	|**Command sent**|**Returned value (1/10 °)**
556	556	|ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
557	557	|ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
...	...	@@ -558,43 +558,64 @@
558	558	|ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
559	559	|ex: #5QSD3<cr>|Target travel speed
560	560
561		-Configure Speed in Degrees (**CSD**)Ex: #5CSD1800<cr>Using the CSD command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 180.0 degrees per second. When the servo is powered on (or after a reset), the CSD value is used. Note that CSD and CSR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.
	597	+Configure Speed in Degrees (**CSD**)
562	562
563		-====== __Maximum Speed in RPM (**SR**)__ ======
	599	+Ex: #5CSD1800<cr>
564	564
565		-Ex: #5SR45<cr>This command sets the servo's maximum speed for motion commands in rpm for that session. In the example above, the servo's maximum speed for that session would be set to 45rpm. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SR overrides CSR (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSR as described below. Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.Query Speed in RPM (**QSR**)Ex: #5QSR<cr> might return *5QSR45<cr>By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever an SD/SR command is processed. If #5QSR1<cr> is sent, the configured maximum speed (CSR value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
	601	+Using the CSD command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 180.0 degrees per second. When the servo is powered on (or after a reset), the CSD value is used. Note that CSD and CSR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.
	602	+)))
566	566
567		-|**Command sent**|**Returned value (1/10 °)**
568		-|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
569		-|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
570		-|ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
571		-|ex: #5QSR3<cr>|Target travel speed
	604	+|(% colspan="2" %)(((
	605	+====== __Maximum Speed in RPM__ ======
	606	+)))
	607	+|(% style="width:30px" %) |(((
	608	+(% class="wikigeneratedid" %)
	609	+Maximum Speed in RPM (**SR**)
572	572
573		-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.
	611	+(% class="wikigeneratedid" id="HEx:235SR453Ccr3EThiscommandsetstheservo27smaximumspeedformotioncommandsinrpmforthatsession.Intheexampleabove2Ctheservo27smaximumspeedforthatsessionwouldbesetto45rpm.Theservo27smaximumspeedcannotbesethigherthanitsphysicallimitatagivenvoltage.SRoverridesCSR28describedbelow29forthatsession.Uponresetorpowercycle2CtheservorevertstothevalueassociatedwithCSRasdescribedbelow.NotethatSD28describedabove29andSRareeffectivelythesame2Cbutallowtheusertospecifythespeedineitherunit.Thelastcommand28eitherSRorSD29receivediswhattheservousesforthatsession.QuerySpeedinRPM28QSR29Ex:235QSR3Ccr3Emightreturn2A5QSR453Ccr3EBydefaultQSRwillreturnthecurrentsessionvalue2CwhichissettothevalueofCSRasreset2FpowercycleandchangedwheneveranSD2FSRcommandisprocessed.If235QSR13Ccr3Eissent2Ctheconfiguredmaximumspeed28CSRvalue29willbereturnedinstead.Youcanalsoquerythecurrentspeedusing22222andthecurrenttargettravelspeedusing22322.Seethetablebelowforanexample:" %)
	612	+Ex: #5SR45<cr>
574	574
575		-====== __Step Mode (**SM**)__ ======
	614	+(% class="wikigeneratedid" %)
	615	+This command sets the servo's maximum speed for motion commands in rpm for that session. In the example above, the servo's maximum speed for that session would be set to 45rpm. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SR overrides CSR (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSR as described below.
576	576
577		-Ex: #8SM2<cr>
	617	+(% class="wikigeneratedid" %)
	618	+Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit.
578	578
579		-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.
	620	+(% class="wikigeneratedid" %)
	621	+The last command (either SR or SD) received is what the servo uses for that session.
580	580
581		-Note that the torque and max RPM of the actuator will be affected.
	623	+(% class="wikigeneratedid" %)
	624	+Query Speed in RPM (**QSR**)
582	582
583		-Query Step Mode (**QSM**)
	626	+(% class="wikigeneratedid" %)
	627	+Ex: #5QSR<cr> might return *5QSR45<cr>
584	584
585		-Ex: #8QSM<cr> might return *8QSM2<cr> meaning servo with ID 8 is set to half step mode.
	629	+(% class="wikigeneratedid" %)
	630	+By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever an SD/SR command is processed. If #5QSR1<cr> is sent, the configured maximum speed (CSR value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
586	586
587		-Configure Step Mode (**CSM**)
	632	+|**Command sent**|**Returned value (1/10 °)**
	633	+|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
	634	+|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
	635	+|ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
	636	+|ex: #5QSR3<cr>|Target travel speed
588	588
589		-Ex: #8SM2<cr>
	638	+Configure Speed in RPM (**CSR**)
590	590
591		-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.
	640	+Ex: #5CSR45<cr>
592	592
	642	+Using the CSR command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSR value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) received is what the servo uses for that session.
	643	+)))
	644	+
593	593	== Modifiers ==
594	594
595		-====== __Speed (**SD**) modifier__ ======
	647	+|(% colspan="2" %)(((
	648	+====== __Speed __ ======
	649	+)))
	650	+|(% style="width:30px" %) |(((
	651	+(% class="wikigeneratedid" %)
	652	+Speed in Degrees (**SD**)
596	596
597		-(% class="wikigeneratedid" id="HTimedmove28T29modifier" %)
	654	+(% class="wikigeneratedid" id="HExample:235D0SD1803Ccr3E" %)
598	598	Example: #5D0SD180<cr>
599	599
600	600	(% class="wikigeneratedid" %)
...	...	@@ -608,8 +608,13 @@
608	608
609	609	(% class="wikigeneratedid" %)
610	610	This command queries the current speed in microseconds per second.
	668	+)))
611	611
612		-====== __Timed move (**T**) modifier__ ======
	670	+|(% colspan="2" %)(((
	671	+====== __Timed move__ ======
	672	+)))
	673	+|(% style="width:30px" %) |(((
	674	+Timed Move (**T**)
613	613
614	614	Example: #5D15000T2500<cr>
615	615
...	...	@@ -616,61 +616,129 @@
616	616	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.
617	617
618	618	**Note:** If the calculated speed at which a servo must rotate for a timed move is greater than its maximum speed (which depends on voltage and load), then it will move at its maximum speed, and the time of the move may be longer than requested
	681	+)))
619	619
620		-====== ======
621		-
622	622	== Telemetry ==
623	623
624		-====== __Query PCB Temperature (**QT**)__ ======
	685	+|(% colspan="2" %)(((
	686	+====== __Temperature PCB__ ======
	687	+)))
	688	+|(% style="width:30px" %) |(((
	689	+Query Temp PCB (**QT**)
625	625
626	626	Ex: #5QT<cr> might return *5QT564<cr>
627	627
628	628	The units are in tenths of degrees Celcius, so in the example above, the servo's internal temperature is 56.4 degrees C. To convert from degrees Celcius to degrees Farenheit, multiply by 1.8 and add 32. Therefore 56.4C = 133.52F.
	694	+)))
629	629
630		-====== __Query Temperature Probe (**QTP**)__ ======
	696	+|(% colspan="2" %)(((
	697	+====== __Current__ ======
	698	+)))
	699	+|(% style="width:30px" %) |(((
	700	+(% class="wikigeneratedid" %)
	701	+Query Current (**QC**)
631	631
632		-Ex:
633		-
634		-====== __Query Temp of Controller (**QTCW**)__ ======
635		-
636		-Ex:
637		-
638		-An alternative is QTCE
639		-
640		-====== __Query Current (**QC**)__ ======
641		-
	703	+(% class="wikigeneratedid" id="HEx:235QC3Ccr3Emightreturn2A5QC1403Ccr3E" %)
642	642	Ex: #5QC<cr> might return *5QC140<cr>
643	643
644	644	The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A. It represents the RMS value. The query calculates the RMS value of the current sent from the motor driver to the stepper motor.
	707	+)))
645	645
646		-====== __Query Model String (**QMS**)__ ======
	709	+|(% colspan="2" %)(((
	710	+====== __Model String__ ======
	711	+)))
	712	+|(% style="width:30px" %) |(((
	713	+(% class="wikigeneratedid" %)
	714	+Query Model String (**QMS**)
647	647
	716	+(% class="wikigeneratedid" id="HEx:235QMS3Ccr3Emightreturn2A5QMSLSS-HS13Ccr3E" %)
648	648	Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
649	649
650	650	This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
	720	+)))
651	651
652		-====== __Query Firmware (**QF**)__ ======
	722	+|(% colspan="2" %)(((
	723	+====== __Firmware__ ======
	724	+)))
	725	+|(% style="width:30px" %) |(((
	726	+Query Firmware (**QF**)
653	653
654	654	Ex: #5QF<cr> might return *5QF368<cr>
655	655
656	656	The number in the reply represents the firmware version, in this example being 368.The command #5QF3<cr> can also be sent and the servo will reply with a 3 numbers firmware version, for example, 368.29.14
	731	+)))
657	657
658		-====== __Query Serial Number (**QN**)__ ======
	733	+|(% colspan="2" %)(((
	734	+====== __Serial Number__ ======
	735	+)))
	736	+|(% style="width:30px" %) |(((
	737	+(% class="wikigeneratedid" %)
	738	+Query Serial Number (**QN**)
659	659
	740	+(% class="wikigeneratedid" id="HEx:235QN3Ccr3Emightreturn2A5QN123456783Ccr3E" %)
660	660	Ex: #5QN<cr> might return *5QN12345678<cr>
661	661
662	662	The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
	744	+)))
663	663
664		-====== __Query IMU Linear (**QIX** **QIY** **QIZ**)__ ======
	746	+|(% colspan="2" %)(((
	747	+====== __Temperature Probe__ ======
	748	+)))
	749	+|(% style="width:30px" %) |(((
	750	+Query Temp motor Probe (**QTP**)
	751	+)))
665	665
666		-Ex: #6QIX<cr> might return *6QIX30<cr>
	753	+|(% colspan="2" %)(((
	754	+====== __Temperature MCU__ ======
	755	+)))
	756	+|(% style="width:30px" %) |(((
	757	+Query Temp MCU (**QTM**)
	758	+)))
667	667
668		-This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
	760	+|(% colspan="2" %)(((
	761	+====== __Temp Controller Error__ ======
	762	+)))
	763	+|(% style="width:30px" %) |(((
	764	+(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
	765	+Query Temp Controller Error (**QTCE**)
	766	+)))
669	669
670		-====== __Query IMU Angular (**QIA** **QIB** **QIC**)__ ======
	768	+|(% colspan="2" %)(((
	769	+====== __Temp Controller Warning__ ======
	770	+)))
	771	+|(% style="width:30px" %) |(((
	772	+(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
	773	+Query Temp Controller Warning (**QTCW**)
	774	+)))
671	671
	776	+|(% colspan="2" %)(((
	777	+====== __Error Flag__ ======
	778	+)))
	779	+|(% style="width:30px" %) |(((
	780	+Query Error Flag (**QEF**)
	781	+)))
	782	+
	783	+|(% colspan="2" %)(((
	784	+====== __IMU Linear__ ======
	785	+)))
	786	+|(% style="width:30px" %) |(((
	787	+(% class="wikigeneratedid" %)
	788	+Query IMU Linear (**QIX QIY QIZ**)
	789	+
	790	+====== Ex: #6QIX<cr> might return *6QIX30<cr> ======
	791	+
	792	+This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
	793	+)))
	794	+
	795	+|(% colspan="2" %)(((
	796	+====== __IMU Angular__ ======
	797	+)))
	798	+|(% style="width:30px" %) |(((
	799	+(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
	800	+Query IMU Angular (**QIA QIB QIG**)
672	672	Ex: #6QIB<cr> might return *6QIB44<cr>
673	673
674	674	This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
	804	+)))
675	675
676	676