Changes for page LSS-PRO Communication Protocol

Last modified by Eric Nantel on 2024/09/06 14:52

From version < 82.1 >

edited by Eric Nantel
on 2024/09/06 09:27

To version < 26.1 >

edited by Coleman Benson
on 2023/07/18 10:17

< >

Change comment: There is no comment for this version

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

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

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

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++{{warningBox warningText="More information coming soon"/}}
++
++
  (% class="wikigeneratedid" id="HTableofContents" %)
  **Page Contents**
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  == Modifiers ==
--Modifiers can only be used with certain **action commands**. The format to include a modifier is:
++{{html clean="false" wiki="true"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Modifiers can only be used with certain **action commands**. The format to include a modifier is:<div class="wikimodel-emptyline"></div>
--1. Start with a number sign **#** (Unicode Character: U+0023)
++1. Start with a number sign **#** (Unicode Character: U+0023)
 . Servo ID number as an integer
 . Action command (one to three letters, no spaces, capital or lowercase from a subset of action commands below)
 . Action value in the correct units with no decimal
--1. Modifier command (one or two letters from the list of modifiers below)
++1. Modifier command (one or two letters from  the list of modifiers below)
 . Modifier value in the correct units with no decimal
--1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
++1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)
--Ex: #5D13000T1500<cr>This results in the servo with ID #5 rotating to a position (1800 in tenths of degrees) of 130.00 degrees in a time ("T") of 1500 milliseconds (1.5 seconds).
++Ex: #5D13000T1500&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--== Queries ==
++This results in the servo with ID #5 rotating to a position (1800 in tenths of degrees) of 130.00 degrees in a time ("T") of 1500 milliseconds (1.5 seconds).<div class="wikimodel-emptyline"></div>
++<div class="wikimodel-emptyline"></div></div></div>
--Query commands request information from the servo. Query commands are also similar to action and configuration commands and must use the following format:
++<h2>Queries</h2>
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Query commands request information from the servo. Query commands are also similar to action and configuration commands and must use the following format:<div class="wikimodel-emptyline"></div>
--1. Start with a number sign **#** (Unicode Character: U+0023)
++1. Start with a number sign **#** (Unicode Character: U+0023)
 . Servo ID number as an integer
 . Query command (one to four letters, no spaces, capital or lower case)
--1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
++1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)<div class="wikimodel-emptyline"></div>
--Ex: #5QD<cr> Query the position in (hundredths of) degrees for servo with ID #5The query will return a serial string (almost instantaneously) via the servo's Tx in the following format:
++Ex: #5QD&lt;cr&gt; Query the position in (hundredths of) degrees for servo with ID #5<div class="wikimodel-emptyline"></div>
++The query will return a serial string (almost instantaneously) via the servo's Tx in the following format:
++
 . Start with an asterisk * (Unicode Character: U+0023)
 . Servo ID number as an integer
 . Query command (one to four letters, no spaces, capital letters)
 . The reported value in the units described, no decimals.
--1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
++1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)<div class="wikimodel-emptyline"></div>
--There is currently no option to control how fast a servo replies after it has received a query command, therefore when sending a query command to the bus, the controller should be prepared to immediately "listen" for and parse the reply. Sending multiple queries to multiple servos on a bus in fast succession may result in replies overlapping and giving incorrect or corrupt data. As such, the controller should receive a reply before sending a new query command. A reply to the query sent above might be:
++There is currently no option to control how fast a servo replies after it has received a query command, therefore when sending a query command to the bus, the controller should be prepared to immediately "listen" for and parse the reply. Sending multiple queries to multiple servos on a bus in fast succession may result in replies overlapping and giving incorrect or corrupt data. As such, the controller should receive a reply before sending a new query command. A reply to the query sent above might be:<div class="wikimodel-emptyline"></div>
--Ex: *5QD13000<cr>
++Ex: *5QD13000&lt;cr&gt;<div class="wikimodel-emptyline"></div>
  This indicates that servo #5 is currently at 130.00 degrees (13000 tenths of degrees).
++<div class="wikimodel-emptyline"></div></div></div>
--== Configurations ==
++<h2>Configurations</h2>
--Configuration commands and corresponding values affect a servo's defaults which are written to and read from the servo's EEPROM. These configurations are retained in memory after the servo is reset or power is cut / lost. Some configuration commands affect the session, while others do not. In the Command table below, the column "Session" denotes if the configuration command affects the session. Not all action commands have a corresponding configuration command and vice versa. Configuration commands are not cumulative; this means that if two of the same configuration commands are sent, one after the next, only the last configuration is used and stored.
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Configuration commands and corresponding values affect a servo's defaults which are written to and read from the servo's EEPROM.<div class="wikimodel-emptyline"></div>
--The format to send a configuration command is identical to that of an action command:
++These configurations are retained in memory after the servo is reset or power is cut / lost. Some configuration commands affect the session, while others do not. In the Command table below, the column "Session" denotes if the configuration command affects the session. Not all action commands have a corresponding configuration command and vice versa. Configuration commands are not cumulative; this means that if two of the same configuration commands are sent, one after the next, only the last configuration is used and stored.<div class="wikimodel-emptyline"></div>
--1. Start with a number sign **#** (Unicode Character: U+0023)
++The format to send a configuration command is identical to that of an action command:<div class="wikimodel-emptyline"></div>
++
++1. Start with a number sign **#** (Unicode Character: U+0023)
 . Servo ID number as an integer
 . Configuration command (two to four letters, no spaces, capital or lower case)
 . Configuration value in the correct units with no decimal
--1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
++1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)<div class="wikimodel-emptyline"></div>
--Ex: #5CO-500<cr>
++Ex: #5CO-500&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--This configures an absolute origin offset ("CO") with respect to factory origin of servo with ID #5 and changes the offset for that session to -5.00 degrees (500 hundredths of degrees). Once the servo is powered off and on, zeroing the servo will cause it to move to -5.00 degrees with respect to the factory origin and report its position as 0 degrees. Configuration commands can be undone / reset either by sending the servo's default value for that configuration, or by doing a factory reset that clears all configurations (through the button menu or with DEFAULT command described below).
++This configures an absolute origin offset ("CO") with respect to factory origin of servo with ID #5 and changes the offset for that session to -5.00 degrees (500 hundredths of degrees). Once the servo is powered off and on, zeroing the servo will cause it to move to -5.00 degrees with respect to the factory origin and report its position as 0 degrees. Configuration commands can be undone / reset either by sending the servo's default value for that configuration, or by doing a factory reset that clears all configurations (through the button menu or with DEFAULT command described below).<div class="wikimodel-emptyline"></div>
--**Session vs Configuration Query**
++**Session vs Configuration Query**<div class="wikimodel-emptyline"></div>
--By default, the query command returns the session's value. Should no action commands have been sent to change the session value, it will return the value saved in EEPROM which will either be the servo's default, or modified with a configuration command. In order to query the value stored in EEPROM (configuration), add a '1' to the query command:
++By default, the query command returns the session's value. Should no action commands have been sent to change the session value, it will return the value saved in EEPROM which will either be the servo's default, or modified with a configuration command. In order to query the value stored in EEPROM (configuration), add a '1' to the query command:<div class="wikimodel-emptyline"></div>
--Ex: #5CSR10<cr> immediately sets the maximum speed for servo #5 to 10rpm (explained below) and changes the value in memory.
++Ex: #5CSR10&lt;cr&gt; immediately sets the maximum speed for servo #5 to 10rpm (explained below) and changes the value in memory.<div class="wikimodel-emptyline"></div>
--After RESET, a command of #5SR4<cr> sets the session's speed to 4rpm, but does not change the configuration value in memory. Therefore:
++After RESET, a command of #5SR4&lt;cr&gt; sets the session's speed to 4rpm, but does not change the configuration value in memory. Therefore:<div class="wikimodel-emptyline"></div>
--#5QSR<cr> or #5QSR0<cr> would return *5QSR4<cr> which represents the value for that session, whereas
++#5QSR&lt;cr&gt; or #5QSR0&lt;cr&gt;  would return *5QSR4&lt;cr&gt; which represents the value for that session, whereas<div class="wikimodel-emptyline"></div>
--#5QSR1<cr> would return *5QSR10<cr> which represents the value in EEPROM
++#5QSR1&lt;cr&gt; would return *5QSR10&lt;cr&gt; which represents the value in EEPROM
++<div class="wikimodel-emptyline"></div></div></div>
--The ability to store a "virtual angular position" is a feature which allows for rotation beyond 360 degrees, permitting multiple rotations of the output horn, moving the center position and more. The "absolute position" would be the angle of the output shaft with respect to a 360.00 degree circle and can be obtained by taking the modulus (with respect to 360 degrees) of the value. For example if the virtual position is reported as 153350 (or 1533.50 degrees), taking the modulus would give 93.5 degrees (36000 * 4 + 9350 = 153350) as the absolute position (assuming no origin offset).
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++The ability to store a "virtual angular position" is a feature which allows for rotation beyond 360 degrees, permitting multiple rotations of the output horn, moving the center position and more. The "absolute position" would be the angle of the output shaft with respect to a 360.00 degree circle and can be obtained by taking the modulus (with respect to 360 degrees) of the value. For example if the virtual position is reported as 153350 (or 1533.50 degrees), taking the modulus would give 93.5 degrees (36000 * 4 + 9350 = 153350) as the absolute position (assuming no origin offset).<div class="wikimodel-emptyline"></div>
--[[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"]]
++[[image:LSS-servo-positions.jpg]]<div class="wikimodel-emptyline"></div>
--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:
++In this example, the gyre direction (explained below, a.k.a. "rotation direction") is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees. The following command is sent:<div class="wikimodel-emptyline"></div>
--#1D-3000<cr> This causes the servo to move to -30.00 degrees (green arrow)
++#1D-3000&lt;cr&gt; This causes the servo to move to -30.00 degrees (green arrow)<div class="wikimodel-emptyline"></div>
--#1D21000<cr> This second position command is sent to the servo, which moves it to 210.00 degrees (orange arrow)
++#1D21000&lt;cr&gt; This second position command is sent to the servo, which moves it to 210.00 degrees (orange arrow)<div class="wikimodel-emptyline"></div>
--#1D-42000<cr> This next command rotates the servo counterclockwise to a position of -420.00 degrees (red arrow), which means one full rotation of 360 degrees plus 60.00 degrees (420.00 - 360.00), with a virtual position of -420.0 degrees.
++#1D-42000&lt;cr&gt; This next command rotates the servo counterclockwise to a position of -420.00 degrees (red arrow), which means one full rotation of 360 degrees plus 60.00 degrees (420.00 - 360.00), with a virtual position of -420.0 degrees.<div class="wikimodel-emptyline"></div>
--Although the final physical position would be the same as if the servo were commanded to move to -60.00 degrees, the servo is in fact at -420.00 degrees.
++Although the final physical position would be the same as if the servo were commanded to move to -60.00 degrees, the servo is in fact at -420.00 degrees.<div class="wikimodel-emptyline"></div>
--#1D48000<cr> This new command is sent which would then cause the servo to rotate from -420.00 degrees to 480.00 degrees (blue arrow), which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations.
++#1D48000&lt;cr&gt; This new command is sent which would then cause the servo to rotate from -420.00 degrees to 480.00 degrees (blue arrow), which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations.<div class="wikimodel-emptyline"></div>
--#1D33000<cr> would cause the servo to rotate from 480.0 degrees to 330.00 degrees (yellow arrow).
++#1D33000&lt;cr&gt; would cause the servo to rotate from 480.0 degrees to 330.00 degrees (yellow arrow).<div class="wikimodel-emptyline"></div>
  If the servo loses power or is power cycled, it also loses the virtual position associated with that session. For example, if the virtual position was 480.00 degrees before power is cycled, upon power up the servo's position will be read as +120.00 degrees from zero (assuming center position has not been modified). The virtual position range at power-up is [-180.00°, 180.00°].
++<div class="wikimodel-emptyline"></div></div></div>
++
++{{/html}}
  )))
  = Command List =
@@ -116,705
          +116,789 @@
  |(% colspan="8" style="color:orange; font-size:18px" %)[[**Communication Setup**>>||anchor="HCommunicationSetup"]]
  |(% 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**
--| |[[**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
--| |[[**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
--| |[[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
--| |[[**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
--| |[[**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.
--| |[[**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
--| |[[**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
++| |[[**Reset**>>||anchor="HReset"]]|(% style="text-align:center" %)RESET|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Soft reset. See command for details.
++| |[[**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
++| |[[Firmware **Update** Mode>>||anchor="HUpdate26confirm"]]|(% style="text-align:center" %)UPDATE|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Update firmware. See command for details.
++| |[[**Confirm** Changes>>||anchor="HConfirm"]]|(% style="text-align:center" %)CONFIRM|(% style="text-align:center" %) |(% style="text-align:center" %) | | |
++| |[[**E**nable CAN **T**erminal>>||anchor="HConfigureRCMode28CRC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QET|(% style="text-align:center" %)CET| |0 or 1|0: Disable  1: Enable
++| |[[**ID** Number >>||anchor="HIdentificationNumber28ID29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QID|(% style="text-align:center" %)CID|0| |Reset required after change. ID 254 is a "broadcast" which all servos respond to.
++| |[[**U**SB **C**onnection State>>||anchor="HBaudRate"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QUC|(% style="text-align:center" %) | |0 or 1|0: Not connected 1: Connected
++| |**Q**uery **F**irmware **R**elease|(% style="text-align:center" %) |(% style="text-align:center" %)QFR|(% style="text-align:center" %) | | |
  |(% colspan="8" style="color:orange; font-size:18px" %)[[**Motion**>>||anchor="HMotion"]]
  |(% 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**
--| |[[Position in **D**egrees>>||anchor="HPositioninDegrees"]]|(% style="text-align:center" %)D|(% style="text-align:center" %)QD|(% style="text-align:center" %) | |0.01°|
--| |[[**M**ove in **D**egrees (relative)>>||anchor="HRelativeMoveinDegrees"]]|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) | |0.01°|
--| |[[**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"
--| |[[**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"
--| |[[**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
--| |[[**Q**uery **M**otion **T**ime>>doc:||anchor="HMotionTime"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMT|(% style="text-align:center" %) | |0.01s|
--| |[[**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|
--| |[[**L**imp>>||anchor="HLimp"]]|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Removes power from stepper coils
--| |[[**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
++| |[[Position in **D**egrees>>||anchor="HPositioninDegrees28D29"]]|(% style="text-align:center" %)D|(% style="text-align:center" %)QD/QDT|(% style="text-align:center" %) | |1/100°|
++| |[[**M**ove in **D**egrees (relative)>>||anchor="H28Relative29MoveinDegrees28MD29"]]|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) | |1/100°|
++| |[[**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"
++| |[[**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"
++| |[[**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
++| |[[**L**imp>>||anchor="HLimp28L29"]]|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Removes power from stepper coils
++| |[[**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
  |(% colspan="8" style="color:orange; font-size:18px" %)[[**Motion Setup**>>||anchor="HMotionSetup"]]
  |(% 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**
--| |[[**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°|
--| |[[**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°|
--| |[[**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|
--| |[[**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|
--| |[[**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)
--| |[[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
--| |[[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
++| |[[**E**nable **M**otion Profile>>||anchor="HEnableMotionProfile28EM29"]]|(% style="text-align:center" %)EM|(% style="text-align:center" %)QEM|(% style="text-align:center" %)CEM|1| |EM1: trapezoidal motion profile / EM0: no motion profile
++| |[[**F**ilter **P**osition **C**ount>>||anchor="HFilterPositionCount28FPC29"]]|(% style="text-align:center" %)FPC|(% style="text-align:center" %)QFPC|(% style="text-align:center" %)CFPC|5| |Affects motion only when motion profile is disabled (EM0)
++| |[[**O**rigin Offset>>||anchor="HOriginOffset28O29"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|0|1/10°|
++| |[[**A**ngular **R**ange>>||anchor="HAngularRange28AR29"]]|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|1800|1/10°|
++| |[[**A**ngular **S**tiffness>>||anchor="HAngularStiffness28AS29"]]|(% style="text-align:center" %)AS|(% style="text-align:center" %)QAS|(% style="text-align:center" %)CAS|0|-4 to +4 integer|Suggested values are between 0 to +4
++| |[[**A**ngular **H**olding Stiffness>>||anchor="HAngularHoldingStiffness28AH29"]]|(% style="text-align:center" %)AH|(% style="text-align:center" %)QAH|(% style="text-align:center" %)CAH|4|-10 to +10 integer|
++| |[[**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).
++| |[[**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).
++| |[[**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)
++| |[[**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.
++| |[[**M**aximum **M**otor **D**uty>>||anchor="HMaximumMotorDuty28MMD29"]]|(% style="text-align:center" %)MMD|(% style="text-align:center" %)QMMD|(% style="text-align:center" %) |1023|255 to 1023 integer|
++| |[[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
++| |[[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
  |(% colspan="8" style="color:orange; font-size:18px" %)[[**Modifiers**>>||anchor="HModifiers"]]
  |(% 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**
--| |[[**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
--| |[[**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
++| |[[**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
++| |[[**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
  |(% colspan="8" style="color:orange; font-size:18px" %)[[**Telemetry**>>||anchor="HTelemetry"]]
--|(% 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**
--| |[[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|
--| |[[**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.
--| |[[**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)
--| |[[**F**irmware Version>>doc:||anchor="HFirmware"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | |(% style="text-align:center" %) |
--| |[[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
--| |[[**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
--| |[[**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|
--| |[[**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" %) |(((
--Temperature error status of the motor controller (over-temp error)
++|(% 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**
++| |[[**Q**uery PCB **T**emperature>>||anchor="HQueryTemperature28QT29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) | |°C|
++| |[[**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.
++| |[[**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)
++| |[[**Q**uery **F**irmware Version>>||anchor="HQueryFirmware28QF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | | |
++| |[[**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
++| |**Q**uery **T**emperature **P**robe|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | | |Queries temperature probe fixed to stepper motor
++| |**Q**uery **T**emp of **C**ontroller|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW, QTCE|(% style="text-align:center" %) | | |(((
++QTCW: Queries the temperature status of the motor controller (pre-warning)
++
++QTCE: Queries the temperature status of the motor controller (over-temp error)
  )))
--| |[[**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)
--| |[[**E**rror **F**lag>>doc:||anchor="HErrorFlag"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QEF|(% style="text-align:center" %) | |(% style="text-align:center" %) |
--| |[[**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|
--| |[[**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|
--| |[[**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|
--| |[[**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)
--| |[[**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)
--| |[[**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)
++| |**Q**uery **C**urrent **S**peed |(% style="text-align:center" %) |(% style="text-align:center" %)QCS|(% style="text-align:center" %) | | |Queries the motor controller's calculated speed
++| |**Q**uery **I**MU Linear **X**|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |mm/s^2|
++| |**Q**uery **I**MU Linear **Y**|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |mm/s^2|
++| |**Q**uery **I**MU Linear **Z**|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2|
++| |**Q**uery **I**MU Angular Accel **α** |(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel α (Alpha)
++| |**Q**uery **I**MU Angular Accel **β**|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel β (Beta)
++| |**Q**uery **I**MU Angular Accel **γ**|(% style="text-align:center" %) |(% style="text-align:center" %)QIC / QIG|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel γ (Gamma)
  |(% colspan="8" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="HRGBLED"]]
--|(% 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**
--| |[[**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
--| |[[**L**ED **B**linking>>doc:||anchor="HLEDBlinking"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QLB|(% style="text-align:center" %)CLB|(% style="text-align:center" %)0|(% style="text-align:center" %) |
--| |[[**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" %) |
++|(% 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**
++| |[[**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
++| |[[**C**onfigure **L**ED **B**linking>>||anchor="HConfigureLEDBlinking28CLB29"]]|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)CLB| |0 to 63 integer|Reset required after change. See command for details.
  = (% style="color:inherit; font-family:inherit" %)Details(%%) =
  == (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) ==
--|(% colspan="2" %)(((
  ====== __Reset__ ======
--)))
--| |(((
--Reset (**RESET**)
--Ex: #5RESET<cr>
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Ex: #5RESET&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++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>>||anchor="HSession"]], note #2 for more details.<div class="wikimodel-emptyline"></div>
++</div></div>
++{{/html}}
--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.
--)))
++====== __Default & confirm__ ======
--|(% colspan="2" %)(((
--====== (% style="color:inherit; font-family:inherit" %)__Default__(%%) ======
--)))
--|(% style="width:30px" %) |(((
--(% style="color:inherit; font-family:inherit" %)Default (**DEFAULT**)
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Ex: #5DEFAULT&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--(% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
++This command sets in motion the reset of all values to the default values included with the version of the firmware installed on that servo. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the DEFAULT function.<div class="wikimodel-emptyline"></div>
--(% 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.
++EX: #5DEFAULT&lt;cr&gt; followed by #5CONFIRM&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--(% style="color:inherit; font-family:inherit" %)EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
++Since it it not common to have to restore all configurations, a confirmation command is needed after a firmware command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will exit the command.<div class="wikimodel-emptyline"></div>
--(% style="color:inherit; font-family:inherit" %)Since it it not common to have to restore all configurations, a confirmation command is needed after a firmware command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will exit the command.
++**Note:** After the CONFIRM command is sent, the servo will automatically perform a RESET.<div class="wikimodel-emptyline"></div>
++</div></div>
++{{/html}}
--(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
--)))
++====== __Update & confirm__ ======
--|(% colspan="2" %)(((
--====== (% style="color:inherit; font-family:inherit" %)__Update__(%%) ======
--)))
--|(% style="width:30px" %) |(((
--(% style="color:inherit; font-family:inherit" %)Update (**UPDATE**)
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Ex: #5UPDATE&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--(% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
++This command sets in motion the equivalent of a long button press when the servo is not powered in order to enter firmware update mode. This is useful should the button be broken or inaccessible. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the UPDATE function.<div class="wikimodel-emptyline"></div>
--(% 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.
++EX: #5UPDATE&lt;cr&gt; followed by #5CONFIRM&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--(% style="color:inherit; font-family:inherit" %)EX: #5UPDATE<cr> followed by #5CONFIRM<cr>
++Since it it not common to have to update firmware, a confirmation command is needed after an UPDATE command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will leave the firmware action.<div class="wikimodel-emptyline"></div>
--(% style="color:inherit; font-family:inherit" %)Since it it not common to have to update firmware, a confirmation command is needed after an UPDATE command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will leave the firmware action.
++**Note:** After the CONFIRM command is sent, the servo will automatically perform a RESET.<div class="wikimodel-emptyline"></div>
++</div></div>
++{{/html}}
--(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
--)))
++====== __Enable CAN Terminal__ ======
--|(% colspan="2" %)(((
--====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
--)))
--|(% style="width:30px" %) |(((
--(% style="color:inherit; font-family:inherit" %)Confirm (**CONFIRM**)
++{{html clean="false" wiki="true"}}
++<div class="cmdcnt">
++<div class="cmdpad"></div>
++<div class="cmdtxt">Ex: #5CET1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--(% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
++This sets servo with ID #5 to be the final servo in the bus.
--(% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
--Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
--)))
++<div class="cmdtxt">Ex: #5QET&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--|(% colspan="2" %)(((
--====== (% style="color:inherit; font-family:inherit" %)__ID Number__(%%) ======
--)))
--|(% style="width:30px" %) |(((
--This assigns ID #5 to the servo previously assigned to ID 0
++The reply to this query should be *5QET1 to indicate it is the last in the servo bus.
--(% style="color:inherit; font-family:inherit" %)Configure ID Number (**CID**)
++<div class="wikimodel-emptyline"></div>
++</div></div>
++{{/html}}
--(% style="color:inherit; font-family:inherit" %)Ex: #0CID5<cr>
++== Motion ==
--The default ID is 0, so this sets the servo to ID 5.
++====== __Position in Degrees (**D**)__ ======
--Query ID Number (**QID**)
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Example: #5D1456&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--Ex: #254QID<cr> might return *254QID5<cr>
++This moves the servo to an angle of 145.6 degrees, where the center (0) position is centered. Negative values (ex. -176 representing -17.6 degrees) could also be used. A full circle would be from -1800 to 1800 degrees. A value of 2700 would be the same angle (absolute position) as -900, except the servo would move in a different direction. <div class="wikimodel-emptyline"></div>
--In this case, the broadcast ID is used to ensure the servo connected will reply with the ID. This can be used in case the ID assigned to a servo is forgotten.
--)))
++Larger values are permitted and allow for multi-turn functionality using the concept of virtual position (explained above). <div class="wikimodel-emptyline"></div>
--|(% colspan="2" %)(((
--====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor__(%%) ======
--)))
--|(% style="width:30px" %) |(((
--Query Enable CAN Terminal Resistor (**QET**)
++Query Position in Degrees (**QD**)<div class="wikimodel-emptyline"></div>
--Ex: #5QET<cr> might return *QET0<cr>
++Example: #5QD&lt;cr&gt; might return *5QD132&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--This means that servo with ID 5 is NOT configured as the last servo in the CAN bus.
++This means the servo is located at 13.2 degrees.<div class="wikimodel-emptyline"></div>
--Configure Enable CAN Terminal Resistor (**CET**)
++(% class="wikigeneratedid" id="H22.QueryTargetPositioninDegrees28QDT29" %)
++Query Target Position in Degrees (**QDT**)<div class="wikimodel-emptyline"></div>
--(% style="color:inherit; font-family:inherit" %)Ex: #5CET1<cr>
++Ex: #5QDT&lt;cr&gt; might return *5QDT6783&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--(% style="color:inherit; font-family:inherit" %)This commands sets servo with ID 5 as being the last in the CAN Bus. The last servo in a CAN bus must be configured this way.
--)))
++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.
++<div class="wikimodel-emptyline"></div></div></div>
++{{/html}}
--|(% colspan="2" %)(((
--====== __USB Connection Status__ ======
--)))
--|(% style="width:30px" %) |(((
--Query USB Connection Status (**QUC**)
++====== __(Relative) Move in Degrees (**MD**)__ ======
--Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
--)))
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Example: #5MD123&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--== Motion ==
++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.
++<div class="wikimodel-emptyline"></div></div></div>
++{{/html}}
--|(% colspan="2" %)(((
--====== __Position in Degrees__ ======
--)))
--|(% style="width:30px" %) |(((
--Position in Degrees (**D**)
++====== __Wheel Mode in Degrees (**WD**)__ ======
--Example: #5D1456<cr>
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Ex: #5WD90&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--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.
++This command sets the servo to wheel mode where it will rotate in the desired direction at the selected speed. The example above would have the servo rotate at 90.0 degrees per second clockwise (assuming factory default configurations).<div class="wikimodel-emptyline"></div>
--Larger values are permitted and allow for multi-turn functionality using the concept of virtual position (explained above).
++Query Wheel Mode in Degrees (**QWD**)<div class="wikimodel-emptyline"></div>
--Query Position in Degrees (**QD**)
++Ex: #5QWD&lt;cr&gt; might return *5QWD90&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--Example: #5QD<cr> might return *5QD132<cr>
++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).
++<div class="wikimodel-emptyline"></div></div></div>
++{{/html}}
--This means the servo is located at 13.2 degrees.
++====== __Wheel Mode in RPM (**WR**)__ ======
--Query Target Position in Degrees (**QDT**)
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Ex: #5WR40&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--Ex: #5QDT<cr> might return *5QDT6783<cr>
++This command sets the servo to wheel mode where it will rotate in the desired direction at the selected rpm. Wheel mode (a.k.a. "continuous rotation") has the servo operate like a geared DC motor. The servo's maximum rpm cannot be set higher than its physical limit at a given voltage.  The example above would have the servo rotate at 40 rpm clockwise (assuming factory default configurations).<div class="wikimodel-emptyline"></div>
--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.
--)))
++Query Wheel Mode in RPM (**QWR**)<div class="wikimodel-emptyline"></div>
--|(% colspan="2" %)(((
--====== __Relative Move in Degrees__ ======
--)))
--|(% style="width:30px" %) |(((
--(% class="wikigeneratedid" %)
--Move in Degrees (**MD**)
++Ex: #5QWR&lt;cr&gt; might return *5QWR40&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--(% class="wikigeneratedid" %)
--Example: #5M1500<cr>
++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).
++<div class="wikimodel-emptyline"></div></div></div>
++{{/html}}
--(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
--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.
--)))
++====== __Position in PWM (**P**)__ ======
--|(% colspan="2" %)(((
--====== __Wheel Mode in Degrees__ ======
--)))
--|(% style="width:30px" %) |(((
--Wheel mode in Degrees (**WD**)
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Example: #5P2334&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--Ex: #5WD90<cr>
++The position in PWM pulses was retained in order to be backward compatible with the SSC-32 / 32U protocol. This relates the desired angle with an RC standard PWM signal and is further explained in the SSC-32 and [[SSC-32U manuals>>https://www.robotshop.com/media/files/pdf2/lynxmotion_ssc-32u_usb_user_guide.pdf#page=24]]. Without any modifications to configuration considered, and a ±90.0 degrees standard range where 1500 microseconds is centered, a PWM signal of 2334 would set the servo to 165.1 degrees. Valid values for P are [500, 2500]. Values outside this range are corrected / restricted to end points.<div class="wikimodel-emptyline"></div>
--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).
++Query Position in Pulse (**QP**)<div class="wikimodel-emptyline"></div>
--Query Wheel Mode in Degrees (**QWD**)
++Example: #5QP&lt;cr&gt; might return *5QP2334<div class="wikimodel-emptyline"></div>
--Ex: #5QWD<cr> might return *5QWD90<cr>
++This command queries the current angular position in PWM "units". The user must take into consideration that the response includes any angular range and origin configurations in order to determine the actual angle.
++Valid values for QP are {-500, [500, 2500], -2500}. Values outside the [500, 2500] range are given a negative corresponding end point value to indicate they are out of bounds (note that if the servo is physically located at one of the endpoints, it may return a negative number if it is a fraction of a degree beyond the position).
++<div class="wikimodel-emptyline"></div></div></div>
++{{/html}}
--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).
--)))
++====== __(Relative) Move in PWM (**M**)__ ======
--|(% colspan="2" %)(((
--====== __Wheel Mode in RPM__ ======
--)))
--|(% style="width:30px" %) |(((
--Wheel moed in RPM (**WR**)
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Example: #5M1500&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--Ex: #5WR40<cr>
++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.
++<div class="wikimodel-emptyline"></div></div></div>
++{{/html}}
--This command sets the servo to wheel mode where it will rotate in the desired direction at the selected rpm. Wheel mode (a.k.a. "continuous rotation") has the servo operate like a geared DC motor. The servo's maximum rpm cannot be set higher than its physical limit at a given voltage. The example above would have the servo rotate at 40 rpm clockwise (assuming factory default configurations).
++====== __Raw Duty-cycle Move (**RDM**)__ ======
--Query Wheel Mode in RPM (**QWR**)
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Example: #5RDM512&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--Ex: #5QWR<cr> might return *5QWR40<cr>
++The raw duty-cycle move command (or free move command) will rotate the servo at a specified duty cycle value in wheel mode (a.k.a. "continuous rotation") like a geared DC motor.<div class="wikimodel-emptyline"></div>
--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).
--)))
++The duty values range from 0 to 1023. Negative values will rotate the servo in the opposite direction (for factory default a negative value would be counter clockwise).<div class="wikimodel-emptyline"></div>
--|(% colspan="2" %)(((
--====== __Status__ ======
--)))
--|(% style="width:30px" %) |(((
--Query Status (**Q**)
++Query Move in Duty-cycle (**QMD**)<div class="wikimodel-emptyline"></div>
--The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
++Example: #5QMD&lt;cr&gt; might return *5QMD512<div class="wikimodel-emptyline"></div>
--Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
++This command queries the raw duty-cycle move value. 512 value means that the motor is rotating at 50% duty-cycle.
++<div class="wikimodel-emptyline"></div></div></div>
++{{/html}}
++====== __Query Status (**Q**)__ ======
++
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.<div class="wikimodel-emptyline"></div>
++
++Ex: #5Q&lt;cr&gt; might return *5Q6&lt;cr&gt;, which indicates the motor is holding a position.<div class="wikimodel-emptyline"></div>
++</div></div>
++{{/html}}
++
  |(% style="width:25px" %) |***Value returned (Q)**|**Status**|**Detailed description**
  | |ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
  | |ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely
--| |ex: *5Q2<cr>|2: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
--| |ex: *5Q3<cr>|3: Traveling|Moving at a stable speed
--| |ex: *5Q4<cr>|4: Decelerating|Decreasing from travel speed towards final position.
--| |ex: *5Q5<cr>|5: Holding|Keeping current position (in EM0 mode, return will normally be holding)
--| |ex: *5Q6<cr>|6: Error|If the status is Error, the error value consists of binary flags
++| |ex: *5Q2<cr>|2: Free moving|Servo is rotating in duty motion / free move using the RDM command
++| |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
++| |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
++| |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
++| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will nornally be holding)
++| |ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
++| |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
++| |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
++| |ex: *5Q10<cr>|10: Safe Mode|(((
++A safety limit has been exceeded (temperature, peak current or extended high current draw).
--|(% style="width:25px" %)
--| | | |
--| | | |
--| | | |
--| | | |
--| | | |
--| | | |
--| | | |
++Send a Q1 command to know which limit has been reached (described below).
++)))
--*Value returned (Q)StatusDetailed description
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++If a safety limit has been reached and exceeded, the LED will flash red and the servo will stop providing torque (no longer react to commands which cause the motor to rotate). In order to determine which limit has been reached, send a Q1 command. The servo must be RESET in order to return to normal operation, though if a limit is still detected (for example the servo is still too hot), it will revert back to Safe Mode.<div class="wikimodel-emptyline"></div>
++</div></div>
++{{/html}}
--If a safety limit has been reached and exceeded, the LED will flash red and the servo will stop providing torque (no longer react to commands which cause the motor to rotate). In order to determine which limit has been reached, send a Q1 command. The servo must be RESET in order to return to normal operation, though if a limit is still detected (for example the servo is still too hot), it will revert back to Safe Mode.
--
  |(% style="width:25px" %) |***Value returned (Q1)**|**Status**|**Detailed description**
  | |ex: *5Q0<cr>|No limits have been passed|Nothing is wrong
  | |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
  | |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
  | |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
--)))
--|(% colspan="2" %)(((
--====== __Motion Time__ ======
--)))
--|(% style="width:30px" %) |(((
--Query Motion Time (**QMT**)
--)))
++====== __Limp (**L**)__ ======
--|(% colspan="2" %)(((
--====== __Current Speed__ ======
--)))
--|(% style="width:30px" %) |(((
--Query Current Speed (**QCS**)
--)))
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Example: #5L&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--|(% colspan="2" %)(((
--====== __Limp__ ======
--)))
--|(% style="width:30px" %) |(((
--Example: #5L<cr>
++This action causes the servo to go "limp". The microcontroller will still be powered, but the motor will not. As an emergency safety feature, should the robot not be doing what it is supposed to or risks damage, use the broadcast ID to set all servos limp #254L&lt;cr&gt;.
++<div class="wikimodel-emptyline"></div></div></div>
++{{/html}}
--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>.
--)))
++====== __Halt & Hold (**H**)__ ======
--|(% colspan="2" %)(((
--====== __Halt & Hold__ ======
--)))
--|(% style="width:30px" %) |(((
--Example: #5H<cr>
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Example: #5H&lt;cr&gt;<div class="wikimodel-emptyline"></div>
  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.)
--)))
++<div class="wikimodel-emptyline"></div></div></div>
++{{/html}}
  == Motion Setup ==
--|(% colspan="2" %)(((
--====== __Origin Offset__ ======
--)))
--|(% style="width:30px" %) |(((
--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).
++====== __Enable Motion Profile (**EM**)__ ======
--[[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"]]
++{{html clean="false" wiki="true"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++EM1 (Enable Motion Profile #1) is the default mode of the LSS and is an easy way to control the servo's position with a single (serial) position command. This mode uses a trapezoidal motion profile which takes care of acceleration, constant speed travel and deceleration. Once the actual position is within a certain value of the target, it switches to a holding algorithm. The LSS commands for Angular Acceleration and Deceleration (AA/CAA/AD/CAD) Angular Stiffness (AS/CAS) and Angular holding stiffness (AH/CAH) affect this motion profile. Modifiers like SD/S and T can be used in EM1.<div class="wikimodel-emptyline"></div>
++Ex: #5EM1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
++This command enables a trapezoidal motion profile for servo #5 <div class="wikimodel-emptyline"></div>
--[[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"]]
++Ex: #5EM0&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++This command will disable the built-in trapezoidal motion profile. As such, the servo will move at full speed to the target position using the D/MD action commands. Modifiers like SD/S or T cannot be used in EM0 mode. By default the Filter Position Counter, or "FPC" is active in EM0 mode to smooth out its operation. EM0 is suggested for applications where an external controller will be determining all incremental intermediate positions of the servo's motion, effectively replacing a trajectory manager. To prevent having to send position commands continuously to reach the desired position in EM0/FPC active (FPC >= 2), an internal position engine (IPE) repeats the last position command. Note that in EM0 mode, the servo will effectively always be in status: Holding (if using the query status command).
--Origin Offset Query (**QO**)
++<div class="wikimodel-emptyline"></div>
--Example: #5QO<cr> might return *5QO-13
++Query Motion Profile (**QEM**)<div class="wikimodel-emptyline"></div>
--This allows you to query the angle (in tenths of degrees) of the origin in relation to the factory zero position. In this example, the new origin is at -1.3 degrees from the factory zero.
++Ex: #5QEM&lt;cr&gt; might return *5QEM1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--Configure Origin Offset (**CO**)
++This command will query the motion profile. **0:** motion profile disabled / **1:** trapezoidal motion profile enabled.<div class="wikimodel-emptyline"></div>
--Example: #5CO-24<cr>
++Configure Motion Profile (**CEM**)<div class="wikimodel-emptyline"></div>
--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.
--)))
++Ex: #5CEM0&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--|(% colspan="2" %)(((
--====== __Angular Range__ ======
--)))
--|(% style="width:30px" %) |(((
--Example: #5AR1800<cr>
++This command configures the motion profile and saves it in the EEPROM. The setting will be saved upon servo reset / power cycle.
++<div class="wikimodel-emptyline"></div></div></div>
++{{/html}}
--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:
++====== __Filter Position Count (**FPC**)__ ======
--[[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"]]
++{{html clean="false" wiki="true"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++The FPC value relates to the depth of a first order filter (exponential weighted average) over the position change. This has the effect of slowing down both acceleration and deceleration while still allowing the LSS to try to reach the desired position at maximum power at all times. A smaller FPC value will reduce the smoothing effect and a larger value will increase it. To prevent having to send position commands continuously to reach the desired position in EM0/FPC active (FPC >= 2), an internal position engine (IPE) has been put in place, which is also active by default.
++<div class="wikimodel-emptyline"></div>
++Ex: #5FPC10&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++This command allows the user to change the Filter Position Count value for that session. <div class="wikimodel-emptyline"></div>
--Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
++Query Filter Position Count (**QFPC**)<div class="wikimodel-emptyline"></div>
--[[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"]]
++Ex: #5QFPC&lt;cr&gt; might return *5QFPC10&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++This command will query the Filter Position Count value.<div class="wikimodel-emptyline"></div>
--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:
++Configure Filter Position Count (**CFPC**)<div class="wikimodel-emptyline"></div>
--[[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"]]
++Ex: #5CFPC10&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++This command configures the Filter Position Count value and saves it in the EEPROM. The setting will be saved upon servo reset / power cycle.
++<div class="wikimodel-emptyline"></div></div></div>
++{{/html}}
--Query Angular Range (**QAR**)
++====== __Origin Offset (**O**)__ ======
--Example: #5QAR<cr> might return *5AR1800, indicating the total angular range is 180.0 degrees.
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Example: #5O2400&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--Configure Angular Range (**CAR**)
++This command allows you to change the origin of the servo in relation to the factory zero position for that session. As with all action commands, the setting will be lost upon servo reset / power cycle. Origin offset commands are not cumulative and always relate to factory zero. In the first image, the origin at factory offset '0' (centered).<div class="wikimodel-emptyline"></div>
++[[image:LSS-servo-default.jpg]]<div class="wikimodel-emptyline"></div>
++
++In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:<div class="wikimodel-emptyline"></div>
++
++[[image:LSS-servo-origin.jpg]]<div class="wikimodel-emptyline"></div>
++
++Origin Offset Query (**QO**)<div class="wikimodel-emptyline"></div>
++
++Example: #5QO&lt;cr&gt; might return *5QO-13<div class="wikimodel-emptyline"></div>
++
++This allows you to query the angle (in tenths of degrees) of the origin in relation to the factory zero position. In this example, the new origin is at -1.3 degrees from the factory zero.<div class="wikimodel-emptyline"></div>
++
++Configure Origin Offset (**CO**)<div class="wikimodel-emptyline"></div>
++
++Example: #5CO-24&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++
++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.
++<div class="wikimodel-emptyline"></div></div></div>
++{{/html}}
++
++====== __Angular Range (**AR**)__ ======
++
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Example: #5AR1800&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++
++This command allows you to temporarily change the total angular range of the servo in tenths of degrees. This applies to the Position in Pulse (P) command and RC mode. The default for (P) and RC mode is 1800 (180.0 degrees total, or ±90.0 degrees). The image below shows a standard -180.0 to +180.0 range, with no offset:<div class="wikimodel-emptyline"></div>
++
++[[image:LSS-servo-default.jpg]]<div class="wikimodel-emptyline"></div>
++
++Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.<div class="wikimodel-emptyline"></div>
++
++[[image:LSS-servo-ar.jpg]]<div class="wikimodel-emptyline"></div>
++
++Finally, the angular range action command (ex. #5AR1800&lt;cr&gt;) and origin offset action command (ex. #5O-1200&lt;cr&gt;) are used to move both the center and limit the angular range:<div class="wikimodel-emptyline"></div>
++
++[[image:LSS-servo-ar-o-1.jpg]]<div class="wikimodel-emptyline"></div>
++
++Query Angular Range (**QAR**)<div class="wikimodel-emptyline"></div>
++
++Example: #5QAR&lt;cr&gt; might return *5AR1800, indicating the total angular range is 180.0 degrees.<div class="wikimodel-emptyline"></div>
++
++Configure Angular Range (**CAR**)<div class="wikimodel-emptyline"></div>
++
  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.
--)))
++<div class="wikimodel-emptyline"></div></div></div>
++{{/html}}
--|(% colspan="2" %)(((
--====== __Angular Acceleration__ ======
--)))
--|(% style="width:30px" %) |(((
--The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
++====== __Angular Stiffness (**AS**)__ ======
--Ex: #5AA30<cr>
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++The servo's rigidity / angular stiffness can be thought of as (though not identical to) a damped spring in which the value affects the stiffness and embodies how much, and how quickly the servo tried keep the requested position against changes. There are no units.<div class="wikimodel-emptyline"></div>
--This sets the angular acceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).
++A higher value of "angular stiffness":<div class="wikimodel-emptyline"></div>
--Query Angular Acceleration (**QAA**)
++* The more torque will be applied to try to keep the desired position against external input / changes
++* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position<div class="wikimodel-emptyline"></div>
--Ex: #5QAA<cr> might return *5QAA30<cr>
++A lower value on the other hand:<div class="wikimodel-emptyline"></div>
--This returns the servo's angular acceleration in degrees per second squared (°/s^^2^^).
++* Causes a slower acceleration to the travel speed, and a slower deceleration
++* Allows the target position to deviate more from its position before additional torque is applied to bring it back<div class="wikimodel-emptyline"></div>
--Configure Angular Acceleration (**CAA**)
++The default value for stiffness depending on the firmware may be 0 or 1. Greater values produce increasingly erratic behavior and the effect becomes extreme below -4 and above +4. Maximum values are -10 to +10.<div class="wikimodel-emptyline"></div>
--Ex: #5CAA30<cr>
++Ex: #5AS-2&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++This reduces the angular stiffness to -2 for that session, allowing the servo to deviate more around the desired position. This can be beneficial in many situations such as impacts (legged robots) where more of a "spring" effect is desired. Upon reset, the servo will use the value stored in memory, based on the last configuration command.<div class="wikimodel-emptyline"></div>
++
++Ex: #5QAS&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++
++Queries the value being used.<div class="wikimodel-emptyline"></div>
++
++Ex: #5CAS-2&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++
++Writes the desired angular stiffness value to EEPROM.
++<div class="wikimodel-emptyline"></div></div></div>
++{{/html}}
++
++====== __Angular Holding Stiffness (**AH**)__ ======
++
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++The angular holding stiffness determines the servo's ability to hold a desired position under load. The default value for stiffness depending on the firmware may be 0 or 1. Greater values produce increasingly erratic behavior and the effect becomes extreme below -4 and above +4. Maximum values are -10 to +10.<div class="wikimodel-emptyline"></div>
++
++Ex: #5AH3&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++
++This sets the holding stiffness for servo #5 to 3 for that session.<div class="wikimodel-emptyline"></div>
++
++Query Angular Holding Stiffness (**QAH**)<div class="wikimodel-emptyline"></div>
++
++Ex: #5QAH&lt;cr&gt; might return *5QAH3&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++
++This returns the servo's angular holding stiffness value.<div class="wikimodel-emptyline"></div>
++
++Configure Angular Holding Stiffness (**CAH**)<div class="wikimodel-emptyline"></div>
++
++Ex: #5CAH2&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++
++This writes the angular holding stiffness of servo #5 to 2 to EEPROM.
++<div class="wikimodel-emptyline"></div></div></div>
++{{/html}}
++
++====== __Angular Acceleration (**AA**)__ ======
++
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.<div class="wikimodel-emptyline"></div>
++
++Ex: #5AA30&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++
++This sets the angular acceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).<div class="wikimodel-emptyline"></div>
++
++Query Angular Acceleration (**QAA**)<div class="wikimodel-emptyline"></div>
++
++Ex: #5QAA&lt;cr&gt; might return *5QAA30&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++
++This returns the servo's angular acceleration in degrees per second squared (°/s^^2^^).<div class="wikimodel-emptyline"></div>
++
++Configure Angular Acceleration (**CAA**)<div class="wikimodel-emptyline"></div>
++
++Ex: #5CAA30&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++
  This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
--)))
++<div class="wikimodel-emptyline"></div></div></div>
++{{/html}}
--|(% colspan="2" %)(((
--====== __Angular Deceleration__ ======
--)))
--|(% style="width:30px" %) |(((
--The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
++====== __Angular Deceleration (**AD**)__ ======
--Ex: #5AD30<cr>
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.<div class="wikimodel-emptyline"></div>
--This sets the angular deceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).
++Ex: #5AD30&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--Query Angular Deceleration (**QAD**)
++This sets the angular deceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).<div class="wikimodel-emptyline"></div>
--Ex: #5QAD<cr> might return *5QAD30<cr>
++Query Angular Deceleration (**QAD**)<div class="wikimodel-emptyline"></div>
--This returns the servo's angular deceleration in degrees per second squared (°/s^^2^^).
++Ex: #5QAD&lt;cr&gt; might return *5QAD30&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--Configure Angular Deceleration (**CAD**)
++This returns the servo's angular deceleration in degrees per second squared (°/s^^2^^).<div class="wikimodel-emptyline"></div>
--Ex: #5CAD30<cr>
++Configure Angular Deceleration (**CAD**)<div class="wikimodel-emptyline"></div>
--This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
--)))
++Ex: #5CAD30&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--|(% colspan="2" %)(((
--====== __Gyre Direction__ ======
--)))
--|(% style="width:30px" %) |(((
--"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.
++This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
++<div class="wikimodel-emptyline"></div></div></div>
++{{/html}}
--Ex: #5G-1<cr>
++====== __Gyre Direction (**G**)__ ======
--This command will cause servo #5's positions to be inverted, effectively causing the servo to rotate in the opposite direction given the same command. For example in a 2WD robot, servos are often physically installed back to back, therefore setting one of the servos to a negative gyration, the same wheel command (ex WR30) to both servos will cause the robot to move forward or backward rather than rotate.
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++"Gyre" is defined as a circular course or motion. The effect of changing the gyre direction is as if you were to use a mirror image of a circle. By default: CW = 1; CCW = -1.<div class="wikimodel-emptyline"></div>
--Query Gyre Direction (**QG**)
++Ex: #5G-1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--Ex: #5QG<cr> might return *5QG-1<cr>
++This command will cause servo #5's positions to be inverted, effectively causing the servo to rotate in the opposite direction given the same command. For example in a 2WD robot, servos are often physically installed back to back, therefore setting one of the servos to a negative gyration, the same wheel command (ex WR30) to both servos will cause the robot to move forward or backward rather than rotate.<div class="wikimodel-emptyline"></div>
--The value returned above means the servo is in a counter-clockwise gyration. Sending a #5WR30 command will rotate the servo in a counter-clockwise gyration at 30 RPM.
++Query Gyre Direction (**QG**)<div class="wikimodel-emptyline"></div>
--Configure Gyre (**CG**)
++Ex: #5QG&lt;cr&gt; might return *5QG-1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--Ex: #5CG-1<cr>
++The value returned above means the servo is in a counter-clockwise gyration. Sending a #5WR30 command will rotate the servo in a counter-clockwise gyration at 30 RPM.<div class="wikimodel-emptyline"></div>
++Configure Gyre (**CG**)<div class="wikimodel-emptyline"></div>
++
++Ex: #5CG-1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++
  This changes the gyre direction as described above and also writes to EEPROM.
--)))
++<div class="wikimodel-emptyline"></div></div></div>
++{{/html}}
--|(% colspan="2" %)(((
--====== __Maximum Speed in Degrees__ ======
--)))
--|(% style="width:30px" %) |(((
--Maximum Speed in Degrees (**SD**)
++====== __First Position__ ======
--Ex: #5SD1800<cr>
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++In certain cases, a user might want to have the servo move to a specific angle upon power up; we refer to this as "first position" (a.k.a. "initial position"). The factory default has no first position value stored in EEPROM and therefore upon power up, the servo remains limp until a position (or hold command) is assigned. Note that the number should be restricted to -1790 (-179.0 degrees) to +1790 (179.0 degrees) and values beyond this will be changed to 1800. <div class="wikimodel-emptyline"></div>
--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 First Position in Degrees (**QFD**)<div class="wikimodel-emptyline"></div>
--Query Speed in Degrees (**QSD**)
++Ex: #5QFD&lt;cr&gt; might return *5QFD900&lt;cr&gt; <div class="wikimodel-emptyline"></div>
--Ex: #5QSD<cr> might return *5QSD1800<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.<div class="wikimodel-emptyline"></div>
--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:
++Configure First Position in Degrees (**CFD**)<div class="wikimodel-emptyline"></div>
--|**Command sent**|**Returned value (1/10 °)**
--|ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
--|ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
--|ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
--|ex: #5QSD3<cr>|Target travel speed
++Ex: #5CFD900&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--Configure Speed in Degrees (**CSD**)
++This configuration command means the servo, when set to smart mode, will immediately move to 90.0 degrees upon power up. Sending a CFD command without a number (Ex. #5CFD&lt;cr&gt;) results in the servo remaining limp upon power up. In order to remove the first position, send no value, ex: #5CFD&lt;cr&gt;
++<div class="wikimodel-emptyline"></div></div></div>
++{{/html}}
--Ex: #5CSD1800<cr>
++====== __Maximum Motor Duty (**MMD**)__ ======
--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.
--)))
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++This command allows the user to limit the duty cycle value sent from the servo's MCU to the DC Motor driver. The duty cycle limit value can be within the range of 255 to 1023. The default value is 1023. A typical use-case for this command is active compliance.<div class="wikimodel-emptyline"></div>
--|(% colspan="2" %)(((
--====== __Maximum Speed in RPM__ ======
--)))
--|(% style="width:30px" %) |(((
--(% class="wikigeneratedid" %)
--Maximum Speed in RPM (**SR**)
++Ex: #5MMD512&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--(% class="wikigeneratedid" id="HEx:235SR453Ccr3EThiscommandsetstheservo27smaximumspeedformotioncommandsinrpmforthatsession.Intheexampleabove2Ctheservo27smaximumspeedforthatsessionwouldbesetto45rpm.Theservo27smaximumspeedcannotbesethigherthanitsphysicallimitatagivenvoltage.SRoverridesCSR28describedbelow29forthatsession.Uponresetorpowercycle2CtheservorevertstothevalueassociatedwithCSRasdescribedbelow.NotethatSD28describedabove29andSRareeffectivelythesame2Cbutallowtheusertospecifythespeedineitherunit.Thelastcommand28eitherSRorSD29receivediswhattheservousesforthatsession.QuerySpeedinRPM28QSR29Ex:235QSR3Ccr3Emightreturn2A5QSR453Ccr3EBydefaultQSRwillreturnthecurrentsessionvalue2CwhichissettothevalueofCSRasreset2FpowercycleandchangedwheneveranSD2FSRcommandisprocessed.If235QSR13Ccr3Eissent2Ctheconfiguredmaximumspeed28CSRvalue29willbereturnedinstead.Youcanalsoquerythecurrentspeedusing22222andthecurrenttargettravelspeedusing22322.Seethetablebelowforanexample:" %)
--Ex: #5SR45<cr>
++This will set the duty-cycle to 512 for servo with ID 5 for that session.<div class="wikimodel-emptyline"></div>
--(% class="wikigeneratedid" %)
--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.
++Query Maximum Motor Duty (**QMMD**)<div class="wikimodel-emptyline"></div>
--(% class="wikigeneratedid" %)
--Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit.
++Ex: #5QMMDD&lt;cr&gt; might return *5QMMD512&lt;cr&gt; <div class="wikimodel-emptyline"></div>
--(% class="wikigeneratedid" %)
--The last command (either SR or SD) received is what the servo uses for that session.
++This command returns the configured limit of the duty cycle value sent from the servo's MCU to the Motor Controller. The default value is 1023.
++<div class="wikimodel-emptyline"></div></div></div>
++{{/html}}
--(% class="wikigeneratedid" %)
--Query Speed in RPM (**QSR**)
++====== __Maximum Speed in Degrees (**SD**)__ ======
--(% class="wikigeneratedid" %)
--Ex: #5QSR<cr> might return *5QSR45<cr>
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Ex: #5SD1800&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++This command sets the servo's maximum speed for motion commands in tenths of degrees per second for that session. In the example above, the servo's maximum speed for that session would be set to 180.0 degrees per second. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. The SD action command overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD and SR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.<div class="wikimodel-emptyline"></div>
--(% class="wikigeneratedid" %)
--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:
++Query Speed in Degrees (**QSD**)<div class="wikimodel-emptyline"></div>
--|**Command sent**|**Returned value (1/10 °)**
--|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
--|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
--|ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
--|ex: #5QSR3<cr>|Target travel speed
++Ex: #5QSD&lt;cr&gt; might return *5QSD1800&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--Configure Speed in RPM (**CSR**)
++By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever an SD/SR command is processed. If #5QSD1&lt;cr&gt; is sent, the configured maximum speed (CSD value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:<div class="wikimodel-emptyline"></div>
--Ex: #5CSR45<cr>
++|**Command sent**|**Returned value (1/10 °)**
++|ex: #5QSD&lt;cr&gt;|Session value for maximum speed (set by latest SD/SR command)
++|ex: #5QSD1&lt;cr&gt;|Configured maximum speed in EEPROM (set by CSD/CSR)
++|ex: #5QSD2&lt;cr&gt;|Instantaneous speed (same as QWD)
++|ex: #5QSD3&lt;cr&gt;|Target travel speed<div class="wikimodel-emptyline"></div>
--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.
--)))
++Configure Speed in Degrees (**CSD**)<div class="wikimodel-emptyline"></div>
--== Modifiers ==
++Ex: #5CSD1800&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++Using the CSD command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 180.0 degrees per second. When the servo is powered on (or after a reset), the CSD value is used. Note that CSD and CSR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.<div class="wikimodel-emptyline"></div>
++</div></div>
++{{/html}}
--|(% colspan="2" %)(((
--====== __Speed __ ======
--)))
--|(% style="width:30px" %) |(((
--(% class="wikigeneratedid" %)
--Speed in Degrees (**SD**)
++====== __Maximum Speed in RPM (**SR**)__ ======
--(% class="wikigeneratedid" id="HExample:235D0SD1803Ccr3E" %)
--Example: #5D0SD180<cr>
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Ex: #5SR45&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++This command sets the servo's maximum speed for motion commands in rpm for that session. In the example above, the servo's maximum speed for that session would be set to 45rpm. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SR overrides CSR (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSR as described below. Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.<div class="wikimodel-emptyline"></div>
--(% class="wikigeneratedid" %)
--Modifier (SD) is only for a position (D) or relative position (MD) action and determines the speed of the move in tenths of degrees per second. A speed modifier (SD) of 180 would cause the servo to rotate from its current position to the desired absolute or relative position at a speed of 18 degrees per second.
++Query Speed in RPM (**QSR**)<div class="wikimodel-emptyline"></div>
--(% class="wikigeneratedid" %)
--Query Speed (**QS**)
++Ex: #5QSR&lt;cr&gt; might return *5QSR45&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--(% class="wikigeneratedid" %)
--Example: #5QS<cr> might return *5QS300<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&lt;cr&gt; is sent, the configured maximum speed (CSR value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:<div class="wikimodel-emptyline"></div>
--(% class="wikigeneratedid" %)
--This command queries the current speed in microseconds per second.
--)))
++|**Command sent**|**Returned value (1/10 °)**
++|ex: #5QSR&lt;cr&gt;|Session value for maximum speed (set by latest SD/SR command)
++|ex: #5QSR1&lt;cr&gt;|Configured maximum speed in EEPROM (set by CSD/CSR)
++|ex: #5QSR2&lt;cr&gt;|Instantaneous speed (same as QWD)
++|ex: #5QSR3&lt;cr&gt;|Target travel speed<div class="wikimodel-emptyline"></div>
--|(% colspan="2" %)(((
--====== __Timed move__ ======
--)))
--|(% style="width:30px" %) |(((
--Timed Move (**T**)
++Configure Speed in RPM (**CSR**)<div class="wikimodel-emptyline"></div>
--Example: #5D15000T2500<cr>
++Ex: #5CSR45&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++Using the CSR command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSR value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) received is what the servo uses for that session.<div class="wikimodel-emptyline"></div>
++</div></div>
++{{/html}}
--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.
++== Modifiers ==
--**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
--)))
++====== __Speed (**S**, **SD**) modifier__ ======
--== Telemetry ==
++{{html clean="false" wiki="true"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Example: #5P1500S750&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++Modifier (S) is only for a position (P) action and determines the speed of the move in microseconds per second. A speed of 750 microseconds would cause the servo to rotate from its current position to the desired position at a speed of 750 microseconds per second. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.<div class="wikimodel-emptyline"></div>
++Example: #5D0SD180&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++Modifier (SD) is only for a position (D) or relative position (MD) action and determines the speed of the move in tenths of degrees per second. A speed modifier (SD) of 180 would cause the servo to rotate from its current position to the desired absolute or relative position at a speed of 18 degrees per second.<div class="wikimodel-emptyline"></div>
++Query Speed (**QS**)<div class="wikimodel-emptyline"></div>
++Example: #5QS&lt;cr&gt; might return *5QS300&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++This command queries the current speed in microseconds per second.<div class="wikimodel-emptyline"></div>
++</div></div>
++{{/html}}
--|(% colspan="2" %)(((
--====== __Temperature PCB__ ======
--)))
--|(% style="width:30px" %) |(((
--Query Temp PCB (**QT**)
++====== __Timed move (**T**) modifier__ ======
--Ex: #5QT<cr> might return *5QT564<cr>
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Example: #5P1500T2500&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--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.
--)))
++Timed move can be used only as a modifier for a position (P, D, MD) actions. The units are in milliseconds, so a timed move of 2500 milliseconds would cause the servo to rotate from its current position to the desired position in 2.5 seconds. The onboard controller will attempt to ensure that the move is performed entirely at the desired velocity, though differences in torque may cause it to not be exact. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.<div class="wikimodel-emptyline"></div>
++**Note:** If the calculated speed at which a servo must rotate for a timed move is greater than its maximum speed (which depends on voltage and load), then it will move at its maximum speed, and the time of the move may be longer than requested.<div class="wikimodel-emptyline"></div>
++</div></div>
++{{/html}}
--|(% colspan="2" %)(((
--====== __Current__ ======
--)))
--|(% style="width:30px" %) |(((
--(% class="wikigeneratedid" %)
--Query Current (**QC**)
++====== __Current Halt & Hold (**CH**) modifier__ ======
--(% class="wikigeneratedid" id="HEx:235QC3Ccr3Emightreturn2A5QC1403Ccr3E" %)
--Ex: #5QC<cr> might return *5QC140<cr>
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Example: #5D1423CH400&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--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.
--)))
++This has servo with ID 5 move to 142.3 degrees but, should it detect a current of 400mA or higher before it reaches the desired position, will immediately halt and hold position.<div class="wikimodel-emptyline"></div>
++This modifier can be added to the following actions: D; MD; WD; WR.<div class="wikimodel-emptyline"></div>
++</div></div>
++{{/html}}
--|(% colspan="2" %)(((
--====== __Model String__ ======
--)))
--|(% style="width:30px" %) |(((
--(% class="wikigeneratedid" %)
--Query Model String (**QMS**)
++====== __Current Limp (**CL**) modifier__ ======
--(% class="wikigeneratedid" id="HEx:235QMS3Ccr3Emightreturn2A5QMSLSS-HS13Ccr3E" %)
--Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Example: #5D1423CL400&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
--)))
++This has servo with ID 5 move to 142.3 degrees but, should it detect a current of 400mA or higher before it reaches the desired position, will immediately go limp.<div class="wikimodel-emptyline"></div>
++This modifier can be added to the following actions: D; MD; WD; WR.<div class="wikimodel-emptyline"></div>
++</div></div>
++{{/html}}
--|(% colspan="2" %)(((
--====== __Firmware__ ======
--)))
--|(% style="width:30px" %) |(((
--Query Firmware (**QF**)
++== Telemetry ==
--Ex: #5QF<cr> might return *5QF368<cr>
++====== __Query Voltage (**QV**)__ ======
--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
--)))
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Ex: #5QV&lt;cr&gt; might return *5QV11200&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++The number returned is in milliVolts, so in the case above, servo with ID 5 has an input voltage of 11.2V.<div class="wikimodel-emptyline"></div>
++</div></div>
++{{/html}}
--|(% colspan="2" %)(((
--====== __Serial Number__ ======
--)))
--|(% style="width:30px" %) |(((
--(% class="wikigeneratedid" %)
--Query Serial Number (**QN**)
++====== __Query Temperature (**QT**)__ ======
--(% class="wikigeneratedid" id="HEx:235QN3Ccr3Emightreturn2A5QN123456783Ccr3E" %)
--Ex: #5QN<cr> might return *5QN12345678<cr>
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Ex: #5QT&lt;cr&gt; might return *5QT564&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++The units are in tenths of degrees Celcius, so in the example above, the servo's internal temperature is 56.4 degrees C. To convert from degrees Celcius to degrees Farenheit, multiply by 1.8 and add 32. Therefore 56.4C = 133.52F.<div class="wikimodel-emptyline"></div>
++</div></div>
++{{/html}}
--The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
--)))
++====== __Query Current (**QC**)__ ======
--|(% colspan="2" %)(((
--====== __Temperature Probe__ ======
--)))
--|(% style="width:30px" %) |(((
--Query Temp motor Probe (**QTP**)
--)))
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Ex: #5QC&lt;cr&gt; might return *5QC140&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.<div class="wikimodel-emptyline"></div>
++</div></div>
++{{/html}}
--|(% colspan="2" %)(((
--====== __Temperature MCU__ ======
--)))
--|(% style="width:30px" %) |(((
--Query Temp MCU (**QTM**)
--)))
++====== __Query Model String (**QMS**)__ ======
--|(% colspan="2" %)(((
--====== __Temp Controller Error__ ======
--)))
--|(% style="width:30px" %) |(((
--(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
--Query Temp Controller Error (**QTCE**)
--)))
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Ex: #5QMS&lt;cr&gt; might return *5QMSLSS-HS1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++This reply means that the servo model is LSS-HS1: a high speed servo, first revision.<div class="wikimodel-emptyline"></div>
++</div></div>
++{{/html}}
--|(% colspan="2" %)(((
--====== __Temp Controller Warning__ ======
--)))
--|(% style="width:30px" %) |(((
--(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
--Query Temp Controller Warning (**QTCW**)
--)))
++====== __Query Firmware (**QF**)__ ======
--|(% colspan="2" %)(((
--====== __Error Flag__ ======
--)))
--|(% style="width:30px" %) |(((
--Query Error Flag (**QEF**)
--)))
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Ex: #5QF&lt;cr&gt; might return *5QF368&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++The number in the reply represents the firmware version, in this example being 368.<div class="wikimodel-emptyline"></div>
++The command #5QF3&lt;cr&gt; can also be sent and the servo will reply with a 3 numbers firmware version, for example, 368.29.14<div class="wikimodel-emptyline"></div>
++</div></div>
++{{/html}}
--|(% colspan="2" %)(((
--====== __IMU Linear__ ======
--)))
--|(% style="width:30px" %) |(((
--(% class="wikigeneratedid" %)
--Query IMU Linear (**QIX QIY QIZ**)
++====== __Query Serial Number (**QN**)__ ======
--(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
--Ex: #6QIX<cr> might return *6QIX30<cr>
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Ex: #5QN&lt;cr&gt; might return *5QN12345678&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.<div class="wikimodel-emptyline"></div>
++</div></div>
++{{/html}}
--This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
--)))
++== RGB LED ==
--|(% colspan="2" %)(((
--====== __IMU Angular__ ======
--)))
--|(% style="width:30px" %) |(((
--(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
--Query IMU Angular (**QIA QIB QIG**)
++====== __LED Color (**LED**)__ ======
--(% class="wikigeneratedid" %)
--Ex: #6QIB<cr> might return *6QIB44<cr>
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Ex: #5LED3&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++This action sets the servo's RGB LED color for that session.The LED can be used for aesthetics, or (based on user code) to provide visual status updates. Using timing can create patterns.<div class="wikimodel-emptyline"></div>
++0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;<div class="wikimodel-emptyline"></div>
++Query LED Color (**QLED**)<div class="wikimodel-emptyline"></div>
++Ex: #5QLED&lt;cr&gt; might return *5QLED5&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++This simple query returns the indicated servo's LED color.<div class="wikimodel-emptyline"></div>
++Configure LED Color (**CLED**)<div class="wikimodel-emptyline"></div>
++Ex: #5CLED3&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++Configuring the LED color via the CLED command sets the startup color of the servo after a reset or power cycle. Note that it also changes the session's LED color immediately as well. The command above will configure the servo's LED to a Blue color.<div class="wikimodel-emptyline"></div>
++</div></div>
++{{/html}}
--This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
--)))
++====== __Configure LED Blinking (**CLB**)__ ======
--== RGB LED ==
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++This command allows you to control when the RGB LED will blink the user set color (see RGB LED command for details). This is very useful when visually seeing what the servo is doing. You can turn on or off blinking for various LSS status. The command requires that the servo be RESET. Here is the list and their associated value:<div class="wikimodel-emptyline"></div>
--|(% colspan="2" %)(((
--====== __LED Color__ ======
--)))
--|(% style="width:30px" %) |(((
--(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
--
--)))
++(% style="width:195px" %)
++|(% style="width:134px" %)**Blink While:**|(% style="width:58px" %)**#**
++|(% style="width:134px" %)No blinking|(% style="width:58px" %)0
++|(% style="width:134px" %)Limp|(% style="width:58px" %)1
++|(% style="width:134px" %)Holding|(% style="width:58px" %)2
++|(% style="width:134px" %)Accelerating|(% style="width:58px" %)4
++|(% style="width:134px" %)Decelerating|(% style="width:58px" %)8
++|(% style="width:134px" %)Free|(% style="width:58px" %)16
++|(% style="width:134px" %)Travelling|(% style="width:58px" %)32
++|(% style="width:134px" %)Always blink|(% style="width:58px" %)63<div class="wikimodel-emptyline"></div>
--|(% colspan="2" %)(((
--====== __LED Blinking__ ======
--)))
--|(% style="width:30px" %) |(((
--(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
--
--)))
++To set blinking, use CLB with the value of your choosing. To activate blinking in multiple status, simply add together the values of the corresponding status. See examples below:<div class="wikimodel-emptyline"></div>
++Ex: #5CLB0<cr> to turn off all blinking (LED always solid)<div class="wikimodel-emptyline"></div>
++Ex: #5CLB1<cr> only blink when limp (1)<div class="wikimodel-emptyline"></div>
++Ex: #5CLB2<cr> only blink when holding (2)<div class="wikimodel-emptyline"></div>
++Ex: #5CLB12<cr> only blink when accel or decel (accel 4 + decel 8 = 12)<div class="wikimodel-emptyline"></div>
++Ex: #5CLB48<cr> only blink when free or travel (free 16 + travel 32 = 48)<div class="wikimodel-emptyline"></div>
++Ex: #5CLB63<cr> blink in all status (1 + 2 + 4 + 8 + 16 + 32)<div class="wikimodel-emptyline"></div>
++RESETTING the servo is needed.<div class="wikimodel-emptyline"></div>
++</div></div>
++{{/html}}
--|(% colspan="2" %)(((
--====== __LED Indicator__ ======
--)))
--|(% style="width:30px" %) |(((
--(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
--
--)))
++== RGB LED ==
--
++The LED can be

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