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

Parent

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

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

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1		-false
	1	+true

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	1	+{{warningBox warningText="More information coming soon"/}}
	2	+
	3	+
1	1	(% class="wikigeneratedid" id="HTableofContents" %)
2	2	**Page Contents**
3	3
...	...	@@ -26,88 +26,104 @@
26	26
27	27	== Modifiers ==
28	28
29		-Modifiers can only be used with certain **action commands**. The format to include a modifier is:
	32	+{{html clean="false" wiki="true"}}
	33	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	34	+Modifiers can only be used with certain **action commands**. The format to include a modifier is:<div class="wikimodel-emptyline"></div>
30	30
31		-1. Start with a number sign **#** (Unicode Character: U+0023)
	36	+1. Start with a number sign **#** (Unicode Character: U+0023)
32	32	1. Servo ID number as an integer
33	33	1. Action command (one to three letters, no spaces, capital or lowercase from a subset of action commands below)
34	34	1. Action value in the correct units with no decimal
35		-1. Modifier command (one or two letters from the list of modifiers below)
	40	+1. Modifier command (one or two letters from the list of modifiers below)
36	36	1. Modifier value in the correct units with no decimal
37		-1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
	42	+1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)
38	38
39		-Ex: #5D13000T1500<cr>This results in the servo with ID #5 rotating to a position (1800 in tenths of degrees) of 130.00 degrees in a time ("T") of 1500 milliseconds (1.5 seconds).
	44	+Ex: #5D13000T1500&lt;cr&gt;<div class="wikimodel-emptyline"></div>
40	40
41		-== Queries ==
	46	+This results in the servo with ID #5 rotating to a position (1800 in tenths of degrees) of 130.00 degrees in a time ("T") of 1500 milliseconds (1.5 seconds).<div class="wikimodel-emptyline"></div>
	47	+<div class="wikimodel-emptyline"></div></div></div>
42	42
43		-Query commands request information from the servo. Query commands are also similar to action and configuration commands and must use the following format:
	49	+<h2>Queries</h2>
	50	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	51	+Query commands request information from the servo. Query commands are also similar to action and configuration commands and must use the following format:<div class="wikimodel-emptyline"></div>
44	44
45		-1. Start with a number sign **#** (Unicode Character: U+0023)
	53	+1. Start with a number sign **#** (Unicode Character: U+0023)
46	46	1. Servo ID number as an integer
47	47	1. Query command (one to four letters, no spaces, capital or lower case)
48		-1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
	56	+1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)<div class="wikimodel-emptyline"></div>
49	49
50		-Ex: #5QD<cr> Query the position in (hundredths of) degrees for servo with ID #5The query will return a serial string (almost instantaneously) via the servo's Tx in the following format:
	58	+Ex: #5QD&lt;cr&gt; Query the position in (hundredths of) degrees for servo with ID #5<div class="wikimodel-emptyline"></div>
51	51
	60	+The query will return a serial string (almost instantaneously) via the servo's Tx in the following format:
	61	+
52	52	1. Start with an asterisk * (Unicode Character: U+0023)
53	53	1. Servo ID number as an integer
54	54	1. Query command (one to four letters, no spaces, capital letters)
55	55	1. The reported value in the units described, no decimals.
56		-1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
	66	+1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)<div class="wikimodel-emptyline"></div>
57	57
58		-There is currently no option to control how fast a servo replies after it has received a query command, therefore when sending a query command to the bus, the controller should be prepared to immediately "listen" for and parse the reply. Sending multiple queries to multiple servos on a bus in fast succession may result in replies overlapping and giving incorrect or corrupt data. As such, the controller should receive a reply before sending a new query command. A reply to the query sent above might be:
	68	+There is currently no option to control how fast a servo replies after it has received a query command, therefore when sending a query command to the bus, the controller should be prepared to immediately "listen" for and parse the reply. Sending multiple queries to multiple servos on a bus in fast succession may result in replies overlapping and giving incorrect or corrupt data. As such, the controller should receive a reply before sending a new query command. A reply to the query sent above might be:<div class="wikimodel-emptyline"></div>
59	59
60		-Ex: *5QD13000<cr>
	70	+Ex: *5QD13000&lt;cr&gt;<div class="wikimodel-emptyline"></div>
61	61
62	62	This indicates that servo #5 is currently at 130.00 degrees (13000 tenths of degrees).
	73	+<div class="wikimodel-emptyline"></div></div></div>
63	63
64		-== Configurations ==
	75	+<h2>Configurations</h2>
65	65
66		-Configuration commands and corresponding values affect a servo's defaults which are written to and read from the servo's EEPROM. These configurations are retained in memory after the servo is reset or power is cut / lost. Some configuration commands affect the session, while others do not. In the Command table below, the column "Session" denotes if the configuration command affects the session. Not all action commands have a corresponding configuration command and vice versa. Configuration commands are not cumulative; this means that if two of the same configuration commands are sent, one after the next, only the last configuration is used and stored.
	77	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	78	+Configuration commands and corresponding values affect a servo's defaults which are written to and read from the servo's EEPROM.<div class="wikimodel-emptyline"></div>
67	67
68		-The format to send a configuration command is identical to that of an action command:
	80	+These configurations are retained in memory after the servo is reset or power is cut / lost. Some configuration commands affect the session, while others do not. In the Command table below, the column "Session" denotes if the configuration command affects the session. Not all action commands have a corresponding configuration command and vice versa. Configuration commands are not cumulative; this means that if two of the same configuration commands are sent, one after the next, only the last configuration is used and stored.<div class="wikimodel-emptyline"></div>
69	69
70		-1. Start with a number sign **#** (Unicode Character: U+0023)
	82	+The format to send a configuration command is identical to that of an action command:<div class="wikimodel-emptyline"></div>
	83	+
	84	+1. Start with a number sign **#** (Unicode Character: U+0023)
71	71	1. Servo ID number as an integer
72	72	1. Configuration command (two to four letters, no spaces, capital or lower case)
73	73	1. Configuration value in the correct units with no decimal
74		-1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
	88	+1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)<div class="wikimodel-emptyline"></div>
75	75
76		-Ex: #5CO-500<cr>
	90	+Ex: #5CO-500&lt;cr&gt;<div class="wikimodel-emptyline"></div>
77	77
78		-This configures an absolute origin offset ("CO") with respect to factory origin of servo with ID #5 and changes the offset for that session to -5.00 degrees (500 hundredths of degrees). Once the servo is powered off and on, zeroing the servo will cause it to move to -5.00 degrees with respect to the factory origin and report its position as 0 degrees. Configuration commands can be undone / reset either by sending the servo's default value for that configuration, or by doing a factory reset that clears all configurations (through the button menu or with DEFAULT command described below).
	92	+This configures an absolute origin offset ("CO") with respect to factory origin of servo with ID #5 and changes the offset for that session to -5.00 degrees (500 hundredths of degrees). Once the servo is powered off and on, zeroing the servo will cause it to move to -5.00 degrees with respect to the factory origin and report its position as 0 degrees. Configuration commands can be undone / reset either by sending the servo's default value for that configuration, or by doing a factory reset that clears all configurations (through the button menu or with DEFAULT command described below).<div class="wikimodel-emptyline"></div>
79	79
80		-**Session vs Configuration Query**
	94	+**Session vs Configuration Query**<div class="wikimodel-emptyline"></div>
81	81
82		-By default, the query command returns the session's value. Should no action commands have been sent to change the session value, it will return the value saved in EEPROM which will either be the servo's default, or modified with a configuration command. In order to query the value stored in EEPROM (configuration), add a '1' to the query command:
	96	+By default, the query command returns the session's value. Should no action commands have been sent to change the session value, it will return the value saved in EEPROM which will either be the servo's default, or modified with a configuration command. In order to query the value stored in EEPROM (configuration), add a '1' to the query command:<div class="wikimodel-emptyline"></div>
83	83
84		-Ex: #5CSR10<cr> immediately sets the maximum speed for servo #5 to 10rpm (explained below) and changes the value in memory.
	98	+Ex: #5CSR10&lt;cr&gt; immediately sets the maximum speed for servo #5 to 10rpm (explained below) and changes the value in memory.<div class="wikimodel-emptyline"></div>
85	85
86		-After RESET, a command of #5SR4<cr> sets the session's speed to 4rpm, but does not change the configuration value in memory. Therefore:
	100	+After RESET, a command of #5SR4&lt;cr&gt; sets the session's speed to 4rpm, but does not change the configuration value in memory. Therefore:<div class="wikimodel-emptyline"></div>
87	87
88		-#5QSR<cr> or #5QSR0<cr> would return *5QSR4<cr> which represents the value for that session, whereas
	102	+#5QSR&lt;cr&gt; or #5QSR0&lt;cr&gt; would return *5QSR4&lt;cr&gt; which represents the value for that session, whereas<div class="wikimodel-emptyline"></div>
89	89
90		-#5QSR1<cr> would return *5QSR10<cr> which represents the value in EEPROM
	104	+#5QSR1&lt;cr&gt; would return *5QSR10&lt;cr&gt; which represents the value in EEPROM
	105	+<div class="wikimodel-emptyline"></div></div></div>
91	91
92		-The ability to store a "virtual angular position" is a feature which allows for rotation beyond 360 degrees, permitting multiple rotations of the output horn, moving the center position and more. The "absolute position" would be the angle of the output shaft with respect to a 360.00 degree circle and can be obtained by taking the modulus (with respect to 360 degrees) of the value. For example if the virtual position is reported as 153350 (or 1533.50 degrees), taking the modulus would give 93.5 degrees (36000 * 4 + 9350 = 153350) as the absolute position (assuming no origin offset).
	107	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	108	+The ability to store a "virtual angular position" is a feature which allows for rotation beyond 360 degrees, permitting multiple rotations of the output horn, moving the center position and more. The "absolute position" would be the angle of the output shaft with respect to a 360.00 degree circle and can be obtained by taking the modulus (with respect to 360 degrees) of the value. For example if the virtual position is reported as 153350 (or 1533.50 degrees), taking the modulus would give 93.5 degrees (36000 * 4 + 9350 = 153350) as the absolute position (assuming no origin offset).<div class="wikimodel-emptyline"></div>
93	93
94		-[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-positions.jpg||alt="LSS-servo-positions.jpg"]]
	110	+[[image:LSS-servo-positions.jpg]]<div class="wikimodel-emptyline"></div>
95	95
96		-In this example, the gyre direction (explained below, a.k.a. "rotation direction") is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees. The following command is sent:
	112	+In this example, the gyre direction (explained below, a.k.a. "rotation direction") is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees. The following command is sent:<div class="wikimodel-emptyline"></div>
97	97
98		-#1D-3000<cr> This causes the servo to move to -30.00 degrees (green arrow)
	114	+#1D-3000&lt;cr&gt; This causes the servo to move to -30.00 degrees (green arrow)<div class="wikimodel-emptyline"></div>
99	99
100		-#1D21000<cr> This second position command is sent to the servo, which moves it to 210.00 degrees (orange arrow)
	116	+#1D21000&lt;cr&gt; This second position command is sent to the servo, which moves it to 210.00 degrees (orange arrow)<div class="wikimodel-emptyline"></div>
101	101
102		-#1D-42000<cr> This next command rotates the servo counterclockwise to a position of -420.00 degrees (red arrow), which means one full rotation of 360 degrees plus 60.00 degrees (420.00 - 360.00), with a virtual position of -420.0 degrees.
	118	+#1D-42000&lt;cr&gt; This next command rotates the servo counterclockwise to a position of -420.00 degrees (red arrow), which means one full rotation of 360 degrees plus 60.00 degrees (420.00 - 360.00), with a virtual position of -420.0 degrees.<div class="wikimodel-emptyline"></div>
103	103
104		-Although the final physical position would be the same as if the servo were commanded to move to -60.00 degrees, the servo is in fact at -420.00 degrees.
	120	+Although the final physical position would be the same as if the servo were commanded to move to -60.00 degrees, the servo is in fact at -420.00 degrees.<div class="wikimodel-emptyline"></div>
105	105
106		-#1D48000<cr> This new command is sent which would then cause the servo to rotate from -420.00 degrees to 480.00 degrees (blue arrow), which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations.
	122	+#1D48000&lt;cr&gt; This new command is sent which would then cause the servo to rotate from -420.00 degrees to 480.00 degrees (blue arrow), which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations.<div class="wikimodel-emptyline"></div>
107	107
108		-#1D33000<cr> would cause the servo to rotate from 480.0 degrees to 330.00 degrees (yellow arrow).
	124	+#1D33000&lt;cr&gt; would cause the servo to rotate from 480.0 degrees to 330.00 degrees (yellow arrow).<div class="wikimodel-emptyline"></div>
109	109
110	110	If the servo loses power or is power cycled, it also loses the virtual position associated with that session. For example, if the virtual position was 480.00 degrees before power is cycled, upon power up the servo's position will be read as +120.00 degrees from zero (assuming center position has not been modified). The virtual position range at power-up is [-180.00°, 180.00°].
	127	+<div class="wikimodel-emptyline"></div></div></div>
	128	+
	129	+{{/html}}
111	111	)))
112	112
113	113	= Command List =
...	...	@@ -116,713 +116,850 @@
116	116
117	117	|(% colspan="8" style="color:orange; font-size:18px" %)[[**Communication Setup**>>||anchor="HCommunicationSetup"]]
118	118	|(% 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**
119		-| |[[**Reset**>>||anchor="HReset"]]|(% style="text-align:center" %)RESET|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |Soft reset
120		-| |[[**Default** Configuration>>||anchor="HDefault"]]|(% style="text-align:center" %)DEFAULT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |Revert to firmware default values
121		-| |[[Firmware **Update** Mode>>||anchor="HUpdate"]]|(% style="text-align:center" %)UPDATE|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |Update firmware
122		-| |[[**Confirm** Changes>>||anchor="HConfirm"]]|(% style="text-align:center" %)CONFIRM|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |Confirm the action for some commands
123		-| |[[**ID** Number >>||anchor="HIDNumber"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QID|(% style="text-align:center" %)CID|(% style="text-align:center" %)0|(% style="text-align:center" %) |Reset required after change. ID 254 is a "broadcast" which all servos respond to.
124		-| |[[**E**nable CAN **T**erminal>>doc:||anchor="HEnableCANTerminalResistor"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QET|(% style="text-align:center" %)CET|(% style="text-align:center" %)1|(% style="text-align:center" %)0 or 1|0: Disable  1: Enable
125		-| |[[**U**SB **C**onnection Status>>||anchor="HUSBConnectionStatus"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QUC|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)0 or 1|0: Not connected 1: Connected
	138	+| |[[**Reset**>>||anchor="HReset"]]|(% style="text-align:center" %)RESET|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Soft reset. See command for details.
	139	+| |[[**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
	140	+| |[[Firmware **Update** Mode>>||anchor="HUpdate26confirm"]]|(% style="text-align:center" %)UPDATE|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Update firmware. See command for details.
	141	+| |[[**Confirm** Changes>>||anchor="HConfirm"]]|(% style="text-align:center" %)CONFIRM|(% style="text-align:center" %) |(% style="text-align:center" %) | | |
	142	+| |[[**E**nable CAN **T**erminal>>||anchor="HConfigureRCMode28CRC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QET|(% style="text-align:center" %)CET| |0 or 1|0: Disable  1: Enable
	143	+| |[[**ID** Number >>||anchor="HIdentificationNumber28ID29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QID|(% style="text-align:center" %)CID|0| |Reset required after change. ID 254 is a "broadcast" which all servos respond to.
	144	+| |[[**U**SB **C**onnection State>>||anchor="HBaudRate"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QUC|(% style="text-align:center" %) | |0 or 1|0: Not connected 1: Connected
	145	+| |**Q**uery **F**irmware **R**elease|(% style="text-align:center" %) |(% style="text-align:center" %)QFR|(% style="text-align:center" %) | | |
126	126
127	127	|(% colspan="8" style="color:orange; font-size:18px" %)[[**Motion**>>||anchor="HMotion"]]
128	128	|(% 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**
129		-| |[[Position in **D**egrees>>||anchor="HPositioninDegrees"]]|(% style="text-align:center" %)D|(% style="text-align:center" %)QD|(% style="text-align:center" %) | |0.01°|
130		-| |[[**M**ove in **D**egrees (relative)>>||anchor="HRelativeMoveinDegrees"]]|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) | |0.01°|
131		-| |[[**W**heel mode in **D**egrees>>||anchor="HWheelModeinDegrees"]]|(% style="text-align:center" %)WD|(% style="text-align:center" %)QWD|(% style="text-align:center" %) | |0.01°/s|A.K.A. "Speed mode" or "Continuous rotation"
132		-| |[[**W**heel mode in **R**PM>>||anchor="HWheelModeinRPM"]]|(% style="text-align:center" %)WR|(% style="text-align:center" %)QWR|(% style="text-align:center" %) | |RPM|A.K.A. "Speed mode" or "Continuous rotation"
133		-| |[[**Q**uery Motion Status>>||anchor="HStatus"]]|(% style="text-align:center" %) |(% style="text-align:center" %)Q|(% style="text-align:center" %) | |1 to 8 integer|See command description for details
134		-| |[[**Q**uery **M**otion **T**ime>>doc:||anchor="HMotionTime"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMT|(% style="text-align:center" %) | |0.01s|
135		-| |[[**Q**uery **C**urrent **S**peed>>doc:||anchor="HCurrentSpeed"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QCS|(% style="text-align:center" %) | |0.01°/s|
136		-| |[[**L**imp>>||anchor="HLimp"]]|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Removes power from stepper coils
137		-| |[[**H**alt & Hold>>doc:||anchor="HHalt26Hold"]]|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Stops (halts) motion and holds last position
	149	+| |[[Position in **D**egrees>>||anchor="HPositioninDegrees28D29"]]|(% style="text-align:center" %)D|(% style="text-align:center" %)QD/QDT|(% style="text-align:center" %) | |1/100°|
	150	+| |[[**M**ove in **D**egrees (relative)>>||anchor="H28Relative29MoveinDegrees28MD29"]]|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) | |1/100°|
	151	+| |[[**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"
	152	+| |[[**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"
	153	+| |[[**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
	154	+| |[[**L**imp>>||anchor="HLimp28L29"]]|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Removes power from stepper coils
	155	+| |[[**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
138	138
139	139	|(% colspan="8" style="color:orange; font-size:18px" %)[[**Motion Setup**>>||anchor="HMotionSetup"]]
140	140	|(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
141		-| |[[**O**rigin Offset>>||anchor="HOriginOffset"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|(% style="text-align:center" %)0|(% style="text-align:center" %)0.01°|
142		-| |[[**A**ngular **R**ange>>||anchor="HAngularRange"]]|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|(% style="text-align:center" %)36000|(% style="text-align:center" %)0.01°|
143		-| |[[**A**ngular **A**cceleration>>||anchor="HAngularAcceleration"]]|(% style="text-align:center" %)AA|(% style="text-align:center" %)QAA|(% style="text-align:center" %)CAA|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s^2|
144		-| |[[**A**ngular **D**eceleration>>||anchor="HAngularDeceleration"]]|(% style="text-align:center" %)AD|(% style="text-align:center" %)QAD|(% style="text-align:center" %)CAD|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s^2|
145		-| |[[**G**yre Direction>>||anchor="HGyreDirection"]]|(% style="text-align:center" %)G|(% style="text-align:center" %)QG|(% style="text-align:center" %)CG|(% style="text-align:center" %)1|(% style="text-align:center" %)1 or -1|Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)
146		-| |[[Maximum **S**peed in **D**egrees>>||anchor="HMaximumSpeedinDegrees"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %)QSD|(% style="text-align:center" %)CSD|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s|SD / CSD overwrites SR / CSR
147		-| |[[Maximum **S**peed in **R**PM>>||anchor="HMaximumSpeedinRPM"]]|(% style="text-align:center" %)SR|(% style="text-align:center" %)QSR|(% style="text-align:center" %)CSR|(% style="text-align:center" %) |(% style="text-align:center" %)RPM|SR / CSR overwrites SD / CSD
	159	+| |[[**E**nable **M**otion Profile>>||anchor="HEnableMotionProfile28EM29"]]|(% style="text-align:center" %)EM|(% style="text-align:center" %)QEM|(% style="text-align:center" %)CEM|1| |EM1: trapezoidal motion profile / EM0: no motion profile
	160	+| |[[**F**ilter **P**osition **C**ount>>||anchor="HFilterPositionCount28FPC29"]]|(% style="text-align:center" %)FPC|(% style="text-align:center" %)QFPC|(% style="text-align:center" %)CFPC|5| |Affects motion only when motion profile is disabled (EM0)
	161	+| |[[**O**rigin Offset>>||anchor="HOriginOffset28O29"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|0|1/10°|
	162	+| |[[**A**ngular **R**ange>>||anchor="HAngularRange28AR29"]]|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|1800|1/10°|
	163	+| |[[**A**ngular **S**tiffness>>||anchor="HAngularStiffness28AS29"]]|(% style="text-align:center" %)AS|(% style="text-align:center" %)QAS|(% style="text-align:center" %)CAS|0|-4 to +4 integer|Suggested values are between 0 to +4
	164	+| |[[**A**ngular **H**olding Stiffness>>||anchor="HAngularHoldingStiffness28AH29"]]|(% style="text-align:center" %)AH|(% style="text-align:center" %)QAH|(% style="text-align:center" %)CAH|4|-10 to +10 integer|
	165	+| |[[**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).
	166	+| |[[**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).
	167	+| |[[**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)
	168	+| |[[**F**irst Position (**D**eg)>>||anchor="HFirstPosition"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFD|(% style="text-align:center" %)CFD|No value|1/10°|Reset required after change.
	169	+| |[[**M**aximum **M**otor **D**uty>>||anchor="HMaximumMotorDuty28MMD29"]]|(% style="text-align:center" %)MMD|(% style="text-align:center" %)QMMD|(% style="text-align:center" %) |1023|255 to 1023 integer|
	170	+| |[[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
	171	+| |[[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
148	148
149	149	|(% colspan="8" style="color:orange; font-size:18px" %)[[**Modifiers**>>||anchor="HModifiers"]]
150	150	|(% 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**
151		-| |[[**S**peed in **D**egrees>>doc:||anchor="HSpeed"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %) |(% style="text-align:center" %) | |0.01°/s|For D and MD action commands
152		-| |[[**T**imed move>>||anchor="HTimedmove"]]|(% style="text-align:center" %)T|(% style="text-align:center" %) |(% style="text-align:center" %) | |ms|Time associated with D, MD commands
	175	+| |[[**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
	176	+| |[[**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
153	153
154	154	|(% colspan="8" style="color:orange; font-size:18px" %)[[**Telemetry**>>||anchor="HTelemetry"]]
155		-|(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="text-align:center; width:100px" %)**Default**|(% style="text-align:center; width:170px" %)**Unit**|**Notes**
156		-| |[[PCB **T**emperature>>doc:||anchor="HTemperaturePCB"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) | |(% style="text-align:center" %)0.1°C|
157		-| |[[**C**urrent>>doc:||anchor="HCurrent"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QC|(% style="text-align:center" %) | |(% style="text-align:center" %)mA|Nominal RMS value to stepper motor driver IC.
158		-| |[[**M**odel **S**tring>>doc:||anchor="HModelString"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMS|(% style="text-align:center" %) | |(% style="text-align:center" %) |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)
159		-| |[[**F**irmware Version>>doc:||anchor="HFirmware"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | |(% style="text-align:center" %) |
160		-| |[[Serial **N**umber>>doc:||anchor="HSerialNumber"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) | |(% style="text-align:center" %) |Returns the unique serial number for the servo
161		-| |[[**T**emperature **P**robe>>doc:||anchor="HTemperatureProbe"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | |(% style="text-align:center" %)0.1°C|Queries temperature probe fixed to the stepper motor
162		-| |[[**T**emp of **M**CU>>doc:||anchor="HTemperatureMCU"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTM|(% style="text-align:center" %) | |(% style="text-align:center" %)0.1°C|
163		-| |[[**T**emp of **C**ontroller **E**rror>>doc:||anchor="HTempControllerError"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCE|(% style="text-align:center" %) | |(% style="text-align:center" %) |(((
164		-Temperature error status of the motor controller (over-temp error)
	179	+|(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
	180	+| |[[**Q**uery PCB **T**emperature>>||anchor="HQueryTemperature28QT29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) | |°C|
	181	+| |[[**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.
	182	+| |[[**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)
	183	+| |[[**Q**uery **F**irmware Version>>||anchor="HQueryFirmware28QF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | | |
	184	+| |[[**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
	185	+| |**Q**uery **T**emperature **P**robe|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | | |Queries temperature probe fixed to stepper motor
	186	+| |**Q**uery **T**emp of **C**ontroller|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW, QTCE|(% style="text-align:center" %) | | |(((
	187	+QTCW: Queries the temperature status of the motor controller (pre-warning)
	188	+
	189	+QTCE: Queries the temperature status of the motor controller (over-temp error)
165	165	)))
166		-| |[[**T**emp of **C**ontroller **W**arning>>doc:||anchor="HTempControllerWarning"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW|(% style="text-align:center" %) | |(% style="text-align:center" %) |Temperature error status of the motor controller (pre-warning)
167		-| |[[**E**rror **F**lag>>doc:||anchor="HErrorFlag"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QEF|(% style="text-align:center" %) | |(% style="text-align:center" %) |
168		-| |[[**I**MU Linear **X**>>doc:||anchor="HIMULinear"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |(% style="text-align:center" %)mm/s^2|
169		-| |[[**I**MU Linear **Y**>>doc:||anchor="HIMULinear"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |(% style="text-align:center" %)mm/s^2|
170		-| |[[**I**MU Linear **Z**>>doc:||anchor="HIMULinear"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |(% style="text-align:center" %)mm/s^2|
171		-| |[[**I**MU Angular Accel **α** >>doc:||anchor="HIMUAngular"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |(% style="text-align:center" %)°/s^2|Query IMU Angular Accel α (Alpha)
172		-| |[[**I**MU Angular Accel **β**>>doc:||anchor="HIMUAngular"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |(% style="text-align:center" %)°/s^2|Query IMU Angular Accel β (Beta)
173		-| |[[**I**MU Angular Accel **γ**>>doc:||anchor="HIMUAngular"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIG|(% style="text-align:center" %) | |(% style="text-align:center" %)°/s^2|Query IMU Angular Accel γ (Gamma)
	191	+| |**Q**uery **C**urrent **S**peed |(% style="text-align:center" %) |(% style="text-align:center" %)QCS|(% style="text-align:center" %) | | |Queries the motor controller's calculated speed
	192	+| |**Q**uery **I**MU Linear **X**|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |mm/s^2|
	193	+| |**Q**uery **I**MU Linear **Y**|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |mm/s^2|
	194	+| |**Q**uery **I**MU Linear **Z**|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2|
	195	+| |**Q**uery **I**MU Angular Accel **α** |(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel α (Alpha)
	196	+| |**Q**uery **I**MU Angular Accel **β**|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel β (Beta)
	197	+| |**Q**uery **I**MU Angular Accel **γ**|(% style="text-align:center" %) |(% style="text-align:center" %)QIC / QIG|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel γ (Gamma)
174	174
175	175	|(% colspan="8" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="HRGBLED"]]
176		-|(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="text-align:center; width:100px" %)**Default**|(% style="text-align:center; width:170px" %)**Unit**|**Notes**
177		-| |[[**LED** Color>>||anchor="HLEDColor"]]|(% style="text-align:center" %)LED|(% style="text-align:center" %)QLED|(% style="text-align:center" %)CLED|(% style="text-align:center" %)3|(% style="text-align:center" %)0 to 7 integer|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White
178		-| |[[**L**ED **B**linking>>doc:||anchor="HLEDBlinking"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QLB|(% style="text-align:center" %)CLB|(% style="text-align:center" %)0|(% style="text-align:center" %) |
179		-| |[[**L**ED **I**ndicator>>doc:||anchor="HLEDIndicator"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QLI|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |
	200	+|(% 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**
	201	+| |[[**LED** Color>>||anchor="HLEDColor28LED29"]]|(% style="text-align:center" %)LED|(% style="text-align:center" %)QLED|(% style="text-align:center" %)CLED| |0 to 7 integer|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White
	202	+| |[[**C**onfigure **L**ED **B**linking>>||anchor="HConfigureLEDBlinking28CLB29"]]|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)CLB| |0 to 63 integer|Reset required after change. See command for details.
180	180
181	181	= (% style="color:inherit; font-family:inherit" %)Details(%%) =
182	182
183	183	== (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) ==
184	184
185		-|(% colspan="2" %)(((
186	186	====== __Reset__ ======
187		-)))
188		-| |(((
189		-Reset (**RESET**)
190	190
191		-Ex: #5RESET<cr>
	210	+{{html wiki="true" clean="false"}}
	211	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	212	+Ex: #5RESET&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	213	+This command does a "soft reset" and reverts all commands to those stored in EEPROM (i.e. configuration commands).
	214	+Note: after a RESET command is received, the LSS will restart and perform initilization again, making it unavailable on the bus for a bit. See [[Session>>||anchor="HSession"]], note #2 for more details.<div class="wikimodel-emptyline"></div>
	215	+</div></div>
	216	+{{/html}}
192	192
193		-This command does a "soft reset" and reverts all commands to those stored in EEPROM (i.e. configuration commands). Note: after a RESET command is received, the LSS will restart and perform initilization again, making it unavailable on the bus for a bit. See Session, note #2 for more details.
194		-)))
	218	+====== __Default & confirm__ ======
195	195
196		-|(% colspan="2" %)(((
197		-====== (% style="color:inherit; font-family:inherit" %)__Default__(%%) ======
198		-)))
199		-|(% style="width:30px" %) |(((
200		-(% style="color:inherit; font-family:inherit" %)Default (**DEFAULT**)
	220	+{{html wiki="true" clean="false"}}
	221	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	222	+Ex: #5DEFAULT&lt;cr&gt;<div class="wikimodel-emptyline"></div>
201	201
202		-(% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
	224	+This command sets in motion the reset of all values to the default values included with the version of the firmware installed on that servo. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the DEFAULT function.<div class="wikimodel-emptyline"></div>
203	203
204		-(% 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.
	226	+EX: #5DEFAULT&lt;cr&gt; followed by #5CONFIRM&lt;cr&gt;<div class="wikimodel-emptyline"></div>
205	205
206		-(% style="color:inherit; font-family:inherit" %)EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
	228	+Since it it not common to have to restore all configurations, a confirmation command is needed after a firmware command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will exit the command.<div class="wikimodel-emptyline"></div>
207	207
208		-(% 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.
	230	+**Note:** After the CONFIRM command is sent, the servo will automatically perform a RESET.<div class="wikimodel-emptyline"></div>
	231	+</div></div>
	232	+{{/html}}
209	209
210		-(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
211		-)))
	234	+====== __Update & confirm__ ======
212	212
213		-|(% colspan="2" %)(((
214		-====== (% style="color:inherit; font-family:inherit" %)__Update__(%%) ======
215		-)))
216		-|(% style="width:30px" %) |(((
217		-(% style="color:inherit; font-family:inherit" %)Update (**UPDATE**)
	236	+{{html wiki="true" clean="false"}}
	237	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	238	+Ex: #5UPDATE&lt;cr&gt;<div class="wikimodel-emptyline"></div>
218	218
219		-(% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
	240	+This command sets in motion the equivalent of a long button press when the servo is not powered in order to enter firmware update mode. This is useful should the button be broken or inaccessible. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the UPDATE function.<div class="wikimodel-emptyline"></div>
220	220
221		-(% 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.
	242	+EX: #5UPDATE&lt;cr&gt; followed by #5CONFIRM&lt;cr&gt;<div class="wikimodel-emptyline"></div>
222	222
223		-(% style="color:inherit; font-family:inherit" %)EX: #5UPDATE<cr> followed by #5CONFIRM<cr>
	244	+Since it it not common to have to update firmware, a confirmation command is needed after an UPDATE command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will leave the firmware action.<div class="wikimodel-emptyline"></div>
224	224
225		-(% 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.
	246	+**Note:** After the CONFIRM command is sent, the servo will automatically perform a RESET.<div class="wikimodel-emptyline"></div>
	247	+</div></div>
	248	+{{/html}}
226	226
227		-(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
228		-)))
	250	+====== __Confirm__ ======
229	229
230		-|(% colspan="2" %)(((
231		-====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
232		-)))
233		-|(% style="width:30px" %) |(((
234		-(% style="color:inherit; font-family:inherit" %)Confirm (**CONFIRM**)
	252	+{{html wiki="true" clean="false"}}
	253	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	254	+Ex: #5CONFIRM&lt;cr&gt;<div class="wikimodel-emptyline"></div>
235	235
236		-(% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
	256	+This command is used to confirm changes after a Default or Update command.<div class="wikimodel-emptyline"></div>
237	237
238		-(% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
239		-Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
240		-)))
	258	+**Note:** After the CONFIRM command is sent, the servo will automatically perform a RESET.<div class="wikimodel-emptyline"></div>
	259	+</div></div>
	260	+{{/html}}
241	241
242		-|(% colspan="2" %)(((
243		-====== (% style="color:inherit; font-family:inherit" %)__ID Number__(%%) ======
244		-)))
245		-|(% style="width:30px" %) |(((
246		-This assigns ID #5 to the servo previously assigned to ID 0
	262	+====== ======
247	247
248		-(% style="color:inherit; font-family:inherit" %)Configure ID Number (**CID**)
	264	+====== __Identification Number (**ID**)__ ======
249	249
250		-(% style="color:inherit; font-family:inherit" %)Ex: #0CID5<cr>
	266	+{{html wiki="true" clean="false"}}
	267	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	268	+A servo's identification number cannot be set "on the fly" and must be configured via the CID command described below. The factory default ID number for all servos is 0. Since smart servos are intended to be daisy chained, in order to respond differently from one another, the user must set different identification numbers. Servos with the same ID and baud rate will all receive and react to the same commands.<div class="wikimodel-emptyline"></div>
251	251
252		-The default ID is 0, so this sets the servo to ID 5.
	270	+Query Identification (**QID**)<div class="wikimodel-emptyline"></div>
253	253
254		-Query ID Number (**QID**)
	272	+EX: #254QID&lt;cr&gt; might return *QID5&lt;cr&gt;<div class="wikimodel-emptyline"></div>
255	255
256		-Ex: #254QID<cr> might return *254QID5<cr>
	274	+When using the broadcast query ID command, it is best to only have one servo connected and thus receive only one reply. This is useful when you are not sure of the servo's ID, but don't want to change it. Using the broadcast command (ID 254) with only one servo will have that servo reply with its ID number. Alternatively, pushing the button upon startup and temporarily setting the servo ID to 255 will still result in the servo responding with its "real" ID.<div class="wikimodel-emptyline"></div>
257	257
258		-In this case, the broadcast ID is used to ensure the servo connected will reply with the ID. This can be used in case the ID assigned to a servo is forgotten.
259		-)))
	276	+Configure ID (**CID**)<div class="wikimodel-emptyline"></div>
260	260
261		-|(% colspan="2" %)(((
262		-====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor__(%%) ======
263		-)))
264		-|(% style="width:30px" %) |(((
265		-Query Enable CAN Terminal Resistor (**QET**)
	278	+Ex: #4CID5&lt;cr&gt;<div class="wikimodel-emptyline"></div>
266	266
267		-Ex: #5QET<cr> might return *QET0<cr>
	280	+Setting a servo's ID in EEPROM is done via the CID command. All servos connected to the same serial bus that have will be assigned that ID. In most situations each servo must be set a unique ID, which means each servo must be connected individually to the serial bus and receive a unique CID number. It is best to do this before the servos are added to an assembly. Numbered stickers are provided to distinguish each servo after their ID is set, though you are free to use whatever alternative method you like. The servo must be RESET or power cycled in order for the new ID to take effect.<div class="wikimodel-emptyline"></div>
	281	+</div></div>
	282	+{{/html}}
268	268
269		-This means that servo with ID 5 is NOT configured as the last servo in the CAN bus.
	284	+====== __Baud Rate__ ======
270	270
271		-Configure Enable CAN Terminal Resistor (**CET**)
	286	+{{html clean="false" wiki="true"}}
	287	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	288	+A servo's baud rate cannot be set "on the fly" and must be configured via the CB command described below. The factory default baud rate for all servos is 115200. Since smart servos are intended to be daisy chained, in order to respond to the same serial command, all servos in a project should be set to the same baud rate. Setting different baud rates will have the servos respond differently and may create issues. Available baud rates are: 9600 bps, 19200 bps, 38400 bps, 57600 bps, 115.2 kbps, 230.4 kbps, 250.0 kbps, 460.8 kbps, 500.0 kbps, 750.0 kbps, 921.6 kbps. Servos are shipped with a baud rate set to 115200.<div class="wikimodel-emptyline"></div>
272	272
273		-(% style="color:inherit; font-family:inherit" %)Ex: #5CET1<cr>
	290	+Query Baud Rate (**QB**)<div class="wikimodel-emptyline"></div>
274	274
275		-(% style="color:inherit; font-family:inherit" %)This commands sets servo with ID 5 as being the last in the CAN Bus. The last servo in a CAN bus must be configured this way.
276		-)))
	292	+Ex: #5QB&lt;cr&gt; might return *5QB115200&lt;cr&gt;<div class="wikimodel-emptyline"></div>
277	277
278		-|(% colspan="2" %)(((
279		-====== __USB Connection Status__ ======
280		-)))
281		-|(% style="width:30px" %) |(((
282		-Query USB Connection Status (**QUC**)
	294	+Since the command to query the baud rate must be done at the servo's existing baud rate, it can simply be used to confirm the CB configuration command was correctly received before the servo is power cycled and the new baud rate takes effect.<div class="wikimodel-emptyline"></div>
283	283
284		-Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
285		-)))
	296	+Configure Baud Rate (**CB**)<div class="wikimodel-emptyline"></div>
286	286
	298	+**Important Note:** the servo's current session retains the given baud rate and the new baud rate will only take effect when the servo is power cycled / RESET.<div class="wikimodel-emptyline"></div>
	299	+
	300	+Ex: #5CB9600&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	301	+
	302	+Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.<div class="wikimodel-emptyline"></div>
	303	+</div></div>
	304	+{{/html}}
	305	+
	306	+====== __Automatic Baud Rate__ ======
	307	+
	308	+{{html clean="false" wiki="true"}}
	309	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	310	+This option allows the LSS to listen to it's serial input and select the right baudrate automatically.<div class="wikimodel-emptyline"></div>
	311	+
	312	+Query Automatic Baud Rate (**QABR**)<div class="wikimodel-emptyline"></div>
	313	+
	314	+Ex: #5QABR&lt;cr&gt; might return *5ABR0&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	315	+
	316	+Enable Baud Rate (**ABR**)<div class="wikimodel-emptyline"></div>
	317	+
	318	+Ex: #5QABR1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	319	+Enable baudrate detection on first byte received after power-up.<div class="wikimodel-emptyline"></div>
	320	+
	321	+Ex: #5QABR2,30&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	322	+Enable baudrate detection on first byte received after power-up. If no data for 30 seconds enable detection again on next byte.<div class="wikimodel-emptyline"></div>
	323	+
	324	+Warning: ABR doesnt work well with LSS Config at the moment.<div class="wikimodel-emptyline"></div>
	325	+</div></div>
	326	+{{/html}}
	327	+
287	287	== Motion ==
288	288
289		-|(% colspan="2" %)(((
290		-====== __Position in Degrees__ ======
291		-)))
292		-|(% style="width:30px" %) |(((
293		-Position in Degrees (**D**)
	330	+====== __Position in Degrees (**D**)__ ======
294	294
295		-Example: #5D1456<cr>
	332	+{{html wiki="true" clean="false"}}
	333	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	334	+Example: #5D1456&lt;cr&gt;<div class="wikimodel-emptyline"></div>
296	296
297		-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.
	336	+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>
298	298
299		-Larger values are permitted and allow for multi-turn functionality using the concept of virtual position (explained above).
	338	+Larger values are permitted and allow for multi-turn functionality using the concept of virtual position (explained above). <div class="wikimodel-emptyline"></div>
300	300
301		-Query Position in Degrees (**QD**)
	340	+Query Position in Degrees (**QD**)<div class="wikimodel-emptyline"></div>
302	302
303		-Example: #5QD<cr> might return *5QD132<cr>
	342	+Example: #5QD&lt;cr&gt; might return *5QD132&lt;cr&gt;<div class="wikimodel-emptyline"></div>
304	304
305		-This means the servo is located at 13.2 degrees.
	344	+This means the servo is located at 13.2 degrees.<div class="wikimodel-emptyline"></div>
306	306
307		-Query Target Position in Degrees (**QDT**)
	346	+(% class="wikigeneratedid" id="H22.QueryTargetPositioninDegrees28QDT29" %)
	347	+Query Target Position in Degrees (**QDT**)<div class="wikimodel-emptyline"></div>
308	308
309		-Ex: #5QDT<cr> might return *5QDT6783<cr>
	349	+Ex: #5QDT&lt;cr&gt; might return *5QDT6783&lt;cr&gt;<div class="wikimodel-emptyline"></div>
310	310
311	311	The query target position command returns the target virtual position during and after an action which results in a rotation of the servo horn. In the example above, the servo is rotating to a virtual position of 678.3 degrees. Should the servo not have a target position or be in wheel mode, it will respond with the last target position used.
312		-)))
	352	+<div class="wikimodel-emptyline"></div></div></div>
	353	+{{/html}}
313	313
314		-|(% colspan="2" %)(((
315		-====== __Relative Move in Degrees__ ======
316		-)))
317		-|(% style="width:30px" %) |(((
318		-(% class="wikigeneratedid" %)
319		-Move in Degrees (**MD**)
	355	+====== __(Relative) Move in Degrees (**MD**)__ ======
320	320
321		-(% class="wikigeneratedid" %)
322		-Example: #5M1500<cr>
	357	+{{html wiki="true" clean="false"}}
	358	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	359	+Example: #5MD123&lt;cr&gt;<div class="wikimodel-emptyline"></div>
323	323
324		-(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
325		-The relative move in PWM command causes the servo to read its current position and move by the specified number of PWM signal. For example if the servo is set to rotate CW (default) and an M command of 1500 is sent to the servo, it will cause the servo to rotate clockwise by 90 degrees. Negative PWM value would cause the servo to rotate in the opposite configured direction.
326		-)))
	361	+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.
	362	+<div class="wikimodel-emptyline"></div></div></div>
	363	+{{/html}}
327	327
328		-|(% colspan="2" %)(((
329		-====== __Wheel Mode in Degrees__ ======
330		-)))
331		-|(% style="width:30px" %) |(((
332		-Wheel mode in Degrees (**WD**)
	365	+====== __Wheel Mode in Degrees (**WD**)__ ======
333	333
334		-Ex: #5WD90<cr>
	367	+{{html wiki="true" clean="false"}}
	368	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	369	+Ex: #5WD90&lt;cr&gt;<div class="wikimodel-emptyline"></div>
335	335
336		-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).
	371	+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>
337	337
338		-Query Wheel Mode in Degrees (**QWD**)
	373	+Query Wheel Mode in Degrees (**QWD**)<div class="wikimodel-emptyline"></div>
339	339
340		-Ex: #5QWD<cr> might return *5QWD90<cr>
	375	+Ex: #5QWD&lt;cr&gt; might return *5QWD90&lt;cr&gt;<div class="wikimodel-emptyline"></div>
341	341
342	342	The servo replies with the angular speed in degrees per second. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
343		-)))
	378	+<div class="wikimodel-emptyline"></div></div></div>
	379	+{{/html}}
344	344
345		-|(% colspan="2" %)(((
346		-====== __Wheel Mode in RPM__ ======
347		-)))
348		-|(% style="width:30px" %) |(((
349		-Wheel moed in RPM (**WR**)
	381	+====== __Wheel Mode in RPM (**WR**)__ ======
350	350
351		-Ex: #5WR40<cr>
	383	+{{html wiki="true" clean="false"}}
	384	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	385	+Ex: #5WR40&lt;cr&gt;<div class="wikimodel-emptyline"></div>
352	352
353		-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).
	387	+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>
354	354
355		-Query Wheel Mode in RPM (**QWR**)
	389	+Query Wheel Mode in RPM (**QWR**)<div class="wikimodel-emptyline"></div>
356	356
357		-Ex: #5QWR<cr> might return *5QWR40<cr>
	391	+Ex: #5QWR&lt;cr&gt; might return *5QWR40&lt;cr&gt;<div class="wikimodel-emptyline"></div>
358	358
359	359	The servo replies with the angular speed in rpm. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
360		-)))
	394	+<div class="wikimodel-emptyline"></div></div></div>
	395	+{{/html}}
361	361
362		-|(% colspan="2" %)(((
363		-====== __Status__ ======
364		-)))
365		-|(% style="width:30px" %) |(((
366		-Query Status (**Q**)
	397	+====== __Position in PWM (**P**)__ ======
367	367
368		-The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
	399	+{{html wiki="true" clean="false"}}
	400	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	401	+Example: #5P2334&lt;cr&gt;<div class="wikimodel-emptyline"></div>
369	369
370		-Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
	403	+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>
371	371
	405	+Query Position in Pulse (**QP**)<div class="wikimodel-emptyline"></div>
	406	+
	407	+Example: #5QP&lt;cr&gt; might return *5QP2334<div class="wikimodel-emptyline"></div>
	408	+
	409	+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.
	410	+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).
	411	+<div class="wikimodel-emptyline"></div></div></div>
	412	+{{/html}}
	413	+
	414	+====== __(Relative) Move in PWM (**M**)__ ======
	415	+
	416	+{{html wiki="true" clean="false"}}
	417	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	418	+Example: #5M1500&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	419	+
	420	+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.
	421	+<div class="wikimodel-emptyline"></div></div></div>
	422	+{{/html}}
	423	+
	424	+====== __Raw Duty-cycle Move (**RDM**)__ ======
	425	+
	426	+{{html wiki="true" clean="false"}}
	427	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	428	+Example: #5RDM512&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	429	+
	430	+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>
	431	+
	432	+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>
	433	+
	434	+Query Move in Duty-cycle (**QMD**)<div class="wikimodel-emptyline"></div>
	435	+
	436	+Example: #5QMD&lt;cr&gt; might return *5QMD512<div class="wikimodel-emptyline"></div>
	437	+
	438	+This command queries the raw duty-cycle move value. 512 value means that the motor is rotating at 50% duty-cycle.
	439	+<div class="wikimodel-emptyline"></div></div></div>
	440	+{{/html}}
	441	+
	442	+====== __Query Status (**Q**)__ ======
	443	+
	444	+{{html wiki="true" clean="false"}}
	445	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	446	+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>
	447	+
	448	+Ex: #5Q&lt;cr&gt; might return *5Q6&lt;cr&gt;, which indicates the motor is holding a position.<div class="wikimodel-emptyline"></div>
	449	+</div></div>
	450	+{{/html}}
	451	+
372	372	|(% style="width:25px" %) |***Value returned (Q)**|**Status**|**Detailed description**
373	373	| |ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
374	374	| |ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely
375		-| |ex: *5Q2<cr>|2: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
376		-| |ex: *5Q3<cr>|3: Traveling|Moving at a stable speed
377		-| |ex: *5Q4<cr>|4: Decelerating|Decreasing from travel speed towards final position.
378		-| |ex: *5Q5<cr>|5: Holding|Keeping current position (in EM0 mode, return will normally be holding)
379		-| |ex: *5Q6<cr>|6: Error|If the status is Error, the error value consists of binary flags
	455	+| |ex: *5Q2<cr>|2: Free moving|Servo is rotating in duty motion / free move using the RDM command
	456	+| |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
	457	+| |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
	458	+| |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
	459	+| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will nornally be holding)
	460	+| |ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
	461	+| |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
	462	+| |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
	463	+| |ex: *5Q10<cr>|10: Safe Mode|(((
	464	+A safety limit has been exceeded (temperature, peak current or extended high current draw).
380	380
381		-Query Error Flag (**QEF**)
	466	+Send a Q1 command to know which limit has been reached (described below).
	467	+)))
382	382
383		-|(% style="width:25px" %) |***Value returned (QEF)**|**Status**|**Detailed description**
384		-| |ex: *5QEF0<cr>|0: LSSP_ERROR_BITS_PCBOverTemerature|
385		-| |ex: *5QEF1<cr>|1: LSSP_ERROR_BITS_MCUOverTemerature|
386		-| |ex: *5QEF2<cr>|2: LSSP_ERROR_BITS_MotorProbeOverTemerature|
387		-| |ex: *5QEF3<cr>|3: LSSP_ERROR_BITS_MotorDriverOverTemerature|
388		-| |ex: *5QEF4<cr>|4: LSSP_ERROR_BITS_Blocked|
389		-| |ex: *5QEF5<cr>|5: LSSP_ERROR_BITS_ExceedSpeedLimit|
390		-| |ex: *5QEF6<cr>|6: LSSP_ERROR_BITS_ExceedAccelLimit|
391		-| |ex: *5QEF7<cr>|7: LSSP_ERROR_BITS_ExceedDecelLimit|
392		-| |ex: *5QEF8<cr>|8: LSSP_ERROR_BITS_CurrentPositionOutOfRangePlus|
393		-| |ex: *5QEF9<cr>|9: LSSP_ERROR_BITS_CurrentPositionOutOfRangeMinus|
394		-| |ex: *5QEF10<cr>|10: LSSP_ERROR_BITS_EEPROMHeaderDataError|
395		-| |ex: *5QEF11<cr>|11: LSSP_ERROR_BITS_EEPROMCheckSumError|
396		-| |ex: *5QEF12<cr>|12: LSSP_ERROR_BITS_EEPROMMapVersionIsNotSupported|
	469	+{{html wiki="true" clean="false"}}
	470	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	471	+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>
	472	+</div></div>
	473	+{{/html}}
397	397
398		-*Value returned (Q)StatusDetailed description
399		-
400		-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.
401		-
402	402	|(% style="width:25px" %) |***Value returned (Q1)**|**Status**|**Detailed description**
403	403	| |ex: *5Q0<cr>|No limits have been passed|Nothing is wrong
404	404	| |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
405	405	| |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
406	406	| |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
407		-)))
408	408
409		-|(% colspan="2" %)(((
410		-====== __Motion Time__ ======
411		-)))
412		-|(% style="width:30px" %) |(((
413		-Query Motion Time (**QMT**)
414		-)))
	481	+====== __Limp (**L**)__ ======
415	415
416		-|(% colspan="2" %)(((
417		-====== __Current Speed__ ======
418		-)))
419		-|(% style="width:30px" %) |(((
420		-Query Current Speed (**QCS**)
421		-)))
	483	+{{html wiki="true" clean="false"}}
	484	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	485	+Example: #5L&lt;cr&gt;<div class="wikimodel-emptyline"></div>
422	422
423		-|(% colspan="2" %)(((
424		-====== __Limp__ ======
425		-)))
426		-|(% style="width:30px" %) |(((
427		-Example: #5L<cr>
	487	+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;.
	488	+<div class="wikimodel-emptyline"></div></div></div>
	489	+{{/html}}
428	428
429		-This action causes the servo to go "limp". The microcontroller will still be powered, but the motor will not. As an emergency safety feature, should the robot not be doing what it is supposed to or risks damage, use the broadcast ID to set all servos limp #254L<cr>.
430		-)))
	491	+====== __Halt & Hold (**H**)__ ======
431	431
432		-|(% colspan="2" %)(((
433		-====== __Halt & Hold__ ======
434		-)))
435		-|(% style="width:30px" %) |(((
436		-Example: #5H<cr>
	493	+{{html wiki="true" clean="false"}}
	494	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	495	+Example: #5H&lt;cr&gt;<div class="wikimodel-emptyline"></div>
437	437
438	438	This command causes the servo to stop immediately and hold that angular position. It overrides whatever the servo might be doing at the time the command is received (accelerating, travelling, deccelerating, etc.)
439		-)))
	498	+<div class="wikimodel-emptyline"></div></div></div>
	499	+{{/html}}
440	440
441	441	== Motion Setup ==
442	442
443		-|(% colspan="2" %)(((
444		-====== __Origin Offset__ ======
445		-)))
446		-|(% style="width:30px" %) |(((
447		-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).
	503	+====== __Enable Motion Profile (**EM**)__ ======
448	448
449		-[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]
	505	+{{html clean="false" wiki="true"}}
	506	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	507	+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>
450	450
	509	+Ex: #5EM1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
451	451
452		-In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
	511	+This command enables a trapezoidal motion profile for servo #5 <div class="wikimodel-emptyline"></div>
453	453
454		-[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-origin.jpg||alt="LSS-servo-origin.jpg"]]
	513	+Ex: #5EM0&lt;cr&gt;<div class="wikimodel-emptyline"></div>
455	455
	515	+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).
456	456
457		-Origin Offset Query (**QO**)
	517	+<div class="wikimodel-emptyline"></div>
458	458
459		-Example: #5QO<cr> might return *5QO-13
	519	+Query Motion Profile (**QEM**)<div class="wikimodel-emptyline"></div>
460	460
461		-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.
	521	+Ex: #5QEM&lt;cr&gt; might return *5QEM1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
462	462
463		-Configure Origin Offset (**CO**)
	523	+This command will query the motion profile. **0:** motion profile disabled / **1:** trapezoidal motion profile enabled.<div class="wikimodel-emptyline"></div>
464	464
465		-Example: #5CO-24<cr>
	525	+Configure Motion Profile (**CEM**)<div class="wikimodel-emptyline"></div>
466	466
467		-This command allows you to change the origin of the servo in relation to the factory zero position in EEPROM. The setting will be saved upon servo reset / power cycle. Origin offset configuration commands are not cumulative and always relate to factory zero. The new origin is also used in RC mode. In the example, the new origin will be at -2.4 degrees from the factory zero.
468		-)))
	527	+Ex: #5CEM0&lt;cr&gt;<div class="wikimodel-emptyline"></div>
469	469
470		-|(% colspan="2" %)(((
471		-====== __Angular Range__ ======
472		-)))
473		-|(% style="width:30px" %) |(((
474		-Example: #5AR1800<cr>
	529	+This command configures the motion profile and saves it in the EEPROM. The setting will be saved upon servo reset / power cycle.
	530	+<div class="wikimodel-emptyline"></div></div></div>
	531	+{{/html}}
475	475
476		-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:
	533	+====== __Filter Position Count (**FPC**)__ ======
477	477
478		-[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]
	535	+{{html clean="false" wiki="true"}}
	536	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	537	+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.
	538	+<div class="wikimodel-emptyline"></div>
	539	+Ex: #5FPC10&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	540	+This command allows the user to change the Filter Position Count value for that session. <div class="wikimodel-emptyline"></div>
479	479
480		-Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
	542	+Query Filter Position Count (**QFPC**)<div class="wikimodel-emptyline"></div>
481	481
482		-[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar.jpg||alt="LSS-servo-ar.jpg"]]
	544	+Ex: #5QFPC&lt;cr&gt; might return *5QFPC10&lt;cr&gt;<div class="wikimodel-emptyline"></div>
483	483
	546	+This command will query the Filter Position Count value.<div class="wikimodel-emptyline"></div>
484	484
485		-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:
	548	+Configure Filter Position Count (**CFPC**)<div class="wikimodel-emptyline"></div>
486	486
487		-[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar-o-1.jpg||alt="LSS-servo-ar-o-1.jpg"]]
	550	+Ex: #5CFPC10&lt;cr&gt;<div class="wikimodel-emptyline"></div>
488	488
	552	+This command configures the Filter Position Count value and saves it in the EEPROM. The setting will be saved upon servo reset / power cycle.
	553	+<div class="wikimodel-emptyline"></div></div></div>
	554	+{{/html}}
489	489
490		-Query Angular Range (**QAR**)
	556	+====== __Origin Offset (**O**)__ ======
491	491
492		-Example: #5QAR<cr> might return *5AR1800, indicating the total angular range is 180.0 degrees.
	558	+{{html wiki="true" clean="false"}}
	559	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	560	+Example: #5O2400&lt;cr&gt;<div class="wikimodel-emptyline"></div>
493	493
494		-Configure Angular Range (**CAR**)
	562	+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>
495	495
	564	+[[image:LSS-servo-default.jpg]]<div class="wikimodel-emptyline"></div>
	565	+
	566	+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>
	567	+
	568	+[[image:LSS-servo-origin.jpg]]<div class="wikimodel-emptyline"></div>
	569	+
	570	+Origin Offset Query (**QO**)<div class="wikimodel-emptyline"></div>
	571	+
	572	+Example: #5QO&lt;cr&gt; might return *5QO-13<div class="wikimodel-emptyline"></div>
	573	+
	574	+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>
	575	+
	576	+Configure Origin Offset (**CO**)<div class="wikimodel-emptyline"></div>
	577	+
	578	+Example: #5CO-24&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	579	+
	580	+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.
	581	+<div class="wikimodel-emptyline"></div></div></div>
	582	+{{/html}}
	583	+
	584	+====== __Angular Range (**AR**)__ ======
	585	+
	586	+{{html wiki="true" clean="false"}}
	587	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	588	+Example: #5AR1800&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	589	+
	590	+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>
	591	+
	592	+[[image:LSS-servo-default.jpg]]<div class="wikimodel-emptyline"></div>
	593	+
	594	+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>
	595	+
	596	+[[image:LSS-servo-ar.jpg]]<div class="wikimodel-emptyline"></div>
	597	+
	598	+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>
	599	+
	600	+[[image:LSS-servo-ar-o-1.jpg]]<div class="wikimodel-emptyline"></div>
	601	+
	602	+Query Angular Range (**QAR**)<div class="wikimodel-emptyline"></div>
	603	+
	604	+Example: #5QAR&lt;cr&gt; might return *5AR1800, indicating the total angular range is 180.0 degrees.<div class="wikimodel-emptyline"></div>
	605	+
	606	+Configure Angular Range (**CAR**)<div class="wikimodel-emptyline"></div>
	607	+
496	496	This command allows you to change the total angular range of the servo in tenths of degrees in EEPROM. The setting will be saved upon servo reset / power cycle.
497		-)))
	609	+<div class="wikimodel-emptyline"></div></div></div>
	610	+{{/html}}
498	498
499		-|(% colspan="2" %)(((
500		-====== __Angular Acceleration__ ======
501		-)))
502		-|(% style="width:30px" %) |(((
503		-The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
	612	+====== __Angular Stiffness (**AS**)__ ======
504	504
505		-Ex: #5AA30<cr>
	614	+{{html wiki="true" clean="false"}}
	615	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	616	+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>
506	506
507		-This sets the angular acceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).
	618	+A higher value of "angular stiffness":<div class="wikimodel-emptyline"></div>
508	508
509		-Query Angular Acceleration (**QAA**)
	620	+* The more torque will be applied to try to keep the desired position against external input / changes
	621	+* 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>
510	510
511		-Ex: #5QAA<cr> might return *5QAA30<cr>
	623	+A lower value on the other hand:<div class="wikimodel-emptyline"></div>
512	512
513		-This returns the servo's angular acceleration in degrees per second squared (°/s^^2^^).
	625	+* Causes a slower acceleration to the travel speed, and a slower deceleration
	626	+* Allows the target position to deviate more from its position before additional torque is applied to bring it back<div class="wikimodel-emptyline"></div>
514	514
515		-Configure Angular Acceleration (**CAA**)
	628	+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>
516	516
517		-Ex: #5CAA30<cr>
	630	+Ex: #5AS-2&lt;cr&gt;<div class="wikimodel-emptyline"></div>
518	518
	632	+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>
	633	+
	634	+Ex: #5QAS&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	635	+
	636	+Queries the value being used.<div class="wikimodel-emptyline"></div>
	637	+
	638	+Ex: #5CAS-2&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	639	+
	640	+Writes the desired angular stiffness value to EEPROM.
	641	+<div class="wikimodel-emptyline"></div></div></div>
	642	+{{/html}}
	643	+
	644	+====== __Angular Holding Stiffness (**AH**)__ ======
	645	+
	646	+{{html wiki="true" clean="false"}}
	647	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	648	+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>
	649	+
	650	+Ex: #5AH3&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	651	+
	652	+This sets the holding stiffness for servo #5 to 3 for that session.<div class="wikimodel-emptyline"></div>
	653	+
	654	+Query Angular Holding Stiffness (**QAH**)<div class="wikimodel-emptyline"></div>
	655	+
	656	+Ex: #5QAH&lt;cr&gt; might return *5QAH3&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	657	+
	658	+This returns the servo's angular holding stiffness value.<div class="wikimodel-emptyline"></div>
	659	+
	660	+Configure Angular Holding Stiffness (**CAH**)<div class="wikimodel-emptyline"></div>
	661	+
	662	+Ex: #5CAH2&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	663	+
	664	+This writes the angular holding stiffness of servo #5 to 2 to EEPROM.
	665	+<div class="wikimodel-emptyline"></div></div></div>
	666	+{{/html}}
	667	+
	668	+====== __Angular Acceleration (**AA**)__ ======
	669	+
	670	+{{html wiki="true" clean="false"}}
	671	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	672	+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>
	673	+
	674	+Ex: #5AA30&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	675	+
	676	+This sets the angular acceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).<div class="wikimodel-emptyline"></div>
	677	+
	678	+Query Angular Acceleration (**QAA**)<div class="wikimodel-emptyline"></div>
	679	+
	680	+Ex: #5QAA&lt;cr&gt; might return *5QAA30&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	681	+
	682	+This returns the servo's angular acceleration in degrees per second squared (°/s^^2^^).<div class="wikimodel-emptyline"></div>
	683	+
	684	+Configure Angular Acceleration (**CAA**)<div class="wikimodel-emptyline"></div>
	685	+
	686	+Ex: #5CAA30&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	687	+
519	519	This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
520		-)))
	689	+<div class="wikimodel-emptyline"></div></div></div>
	690	+{{/html}}
521	521
522		-|(% colspan="2" %)(((
523		-====== __Angular Deceleration__ ======
524		-)))
525		-|(% style="width:30px" %) |(((
526		-The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
	692	+====== __Angular Deceleration (**AD**)__ ======
527	527
528		-Ex: #5AD30<cr>
	694	+{{html wiki="true" clean="false"}}
	695	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	696	+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>
529	529
530		-This sets the angular deceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).
	698	+Ex: #5AD30&lt;cr&gt;<div class="wikimodel-emptyline"></div>
531	531
532		-Query Angular Deceleration (**QAD**)
	700	+This sets the angular deceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).<div class="wikimodel-emptyline"></div>
533	533
534		-Ex: #5QAD<cr> might return *5QAD30<cr>
	702	+Query Angular Deceleration (**QAD**)<div class="wikimodel-emptyline"></div>
535	535
536		-This returns the servo's angular deceleration in degrees per second squared (°/s^^2^^).
	704	+Ex: #5QAD&lt;cr&gt; might return *5QAD30&lt;cr&gt;<div class="wikimodel-emptyline"></div>
537	537
538		-Configure Angular Deceleration (**CAD**)
	706	+This returns the servo's angular deceleration in degrees per second squared (°/s^^2^^).<div class="wikimodel-emptyline"></div>
539	539
540		-Ex: #5CAD30<cr>
	708	+Configure Angular Deceleration (**CAD**)<div class="wikimodel-emptyline"></div>
541	541
542		-This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
543		-)))
	710	+Ex: #5CAD30&lt;cr&gt;<div class="wikimodel-emptyline"></div>
544	544
545		-|(% colspan="2" %)(((
546		-====== __Gyre Direction__ ======
547		-)))
548		-|(% style="width:30px" %) |(((
549		-"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.
	712	+This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
	713	+<div class="wikimodel-emptyline"></div></div></div>
	714	+{{/html}}
550	550
551		-Ex: #5G-1<cr>
	716	+====== __Gyre Direction (**G**)__ ======
552	552
553		-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.
	718	+{{html wiki="true" clean="false"}}
	719	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	720	+"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>
554	554
555		-Query Gyre Direction (**QG**)
	722	+Ex: #5G-1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
556	556
557		-Ex: #5QG<cr> might return *5QG-1<cr>
	724	+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>
558	558
559		-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.
	726	+Query Gyre Direction (**QG**)<div class="wikimodel-emptyline"></div>
560	560
561		-Configure Gyre (**CG**)
	728	+Ex: #5QG&lt;cr&gt; might return *5QG-1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
562	562
563		-Ex: #5CG-1<cr>
	730	+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>
564	564
	732	+Configure Gyre (**CG**)<div class="wikimodel-emptyline"></div>
	733	+
	734	+Ex: #5CG-1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	735	+
565	565	This changes the gyre direction as described above and also writes to EEPROM.
566		-)))
	737	+<div class="wikimodel-emptyline"></div></div></div>
	738	+{{/html}}
567	567
568		-|(% colspan="2" %)(((
569		-====== __Maximum Speed in Degrees__ ======
570		-)))
571		-|(% style="width:30px" %) |(((
572		-Maximum Speed in Degrees (**SD**)
	740	+====== __First Position__ ======
573	573
574		-Ex: #5SD1800<cr>
	742	+{{html wiki="true" clean="false"}}
	743	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	744	+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>
575	575
576		-This command sets the servo's maximum speed for motion commands in tenths of degrees per second for that session. In the example above, the servo's maximum speed for that session would be set to 180.0 degrees per second. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. The SD action command overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD and SR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.
	746	+Query First Position in Degrees (**QFD**)<div class="wikimodel-emptyline"></div>
577	577
578		-Query Speed in Degrees (**QSD**)
	748	+Ex: #5QFD&lt;cr&gt; might return *5QFD900&lt;cr&gt; <div class="wikimodel-emptyline"></div>
579	579
580		-Ex: #5QSD<cr> might return *5QSD1800<cr>
	750	+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>
581	581
582		-By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever an SD/SR command is processed. If #5QSD1<cr> is sent, the configured maximum speed (CSD value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
	752	+Configure First Position in Degrees (**CFD**)<div class="wikimodel-emptyline"></div>
583	583
584		-|**Command sent**|**Returned value (1/10 °)**
585		-|ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
586		-|ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
587		-|ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
588		-|ex: #5QSD3<cr>|Target travel speed
	754	+Ex: #5CFD900&lt;cr&gt;<div class="wikimodel-emptyline"></div>
589	589
590		-Configure Speed in Degrees (**CSD**)
	756	+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;
	757	+<div class="wikimodel-emptyline"></div></div></div>
	758	+{{/html}}
591	591
592		-Ex: #5CSD1800<cr>
	760	+====== __Maximum Motor Duty (**MMD**)__ ======
593	593
594		-Using the CSD command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 180.0 degrees per second. When the servo is powered on (or after a reset), the CSD value is used. Note that CSD and CSR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.
595		-)))
	762	+{{html wiki="true" clean="false"}}
	763	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	764	+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>
596	596
597		-|(% colspan="2" %)(((
598		-====== __Maximum Speed in RPM__ ======
599		-)))
600		-|(% style="width:30px" %) |(((
601		-(% class="wikigeneratedid" %)
602		-Maximum Speed in RPM (**SR**)
	766	+Ex: #5MMD512&lt;cr&gt;<div class="wikimodel-emptyline"></div>
603	603
604		-(% class="wikigeneratedid" id="HEx:235SR453Ccr3EThiscommandsetstheservo27smaximumspeedformotioncommandsinrpmforthatsession.Intheexampleabove2Ctheservo27smaximumspeedforthatsessionwouldbesetto45rpm.Theservo27smaximumspeedcannotbesethigherthanitsphysicallimitatagivenvoltage.SRoverridesCSR28describedbelow29forthatsession.Uponresetorpowercycle2CtheservorevertstothevalueassociatedwithCSRasdescribedbelow.NotethatSD28describedabove29andSRareeffectivelythesame2Cbutallowtheusertospecifythespeedineitherunit.Thelastcommand28eitherSRorSD29receivediswhattheservousesforthatsession.QuerySpeedinRPM28QSR29Ex:235QSR3Ccr3Emightreturn2A5QSR453Ccr3EBydefaultQSRwillreturnthecurrentsessionvalue2CwhichissettothevalueofCSRasreset2FpowercycleandchangedwheneveranSD2FSRcommandisprocessed.If235QSR13Ccr3Eissent2Ctheconfiguredmaximumspeed28CSRvalue29willbereturnedinstead.Youcanalsoquerythecurrentspeedusing22222andthecurrenttargettravelspeedusing22322.Seethetablebelowforanexample:" %)
605		-Ex: #5SR45<cr>
	768	+This will set the duty-cycle to 512 for servo with ID 5 for that session.<div class="wikimodel-emptyline"></div>
606	606
607		-(% class="wikigeneratedid" %)
608		-This command sets the servo's maximum speed for motion commands in rpm for that session. In the example above, the servo's maximum speed for that session would be set to 45rpm. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SR overrides CSR (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSR as described below.
	770	+Query Maximum Motor Duty (**QMMD**)<div class="wikimodel-emptyline"></div>
609	609
610		-(% class="wikigeneratedid" %)
611		-Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit.
	772	+Ex: #5QMMDD&lt;cr&gt; might return *5QMMD512&lt;cr&gt; <div class="wikimodel-emptyline"></div>
612	612
613		-(% class="wikigeneratedid" %)
614		-The last command (either SR or SD) received is what the servo uses for that session.
	774	+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.
	775	+<div class="wikimodel-emptyline"></div></div></div>
	776	+{{/html}}
615	615
616		-(% class="wikigeneratedid" %)
617		-Query Speed in RPM (**QSR**)
	778	+====== __Maximum Speed in Degrees (**SD**)__ ======
618	618
619		-(% class="wikigeneratedid" %)
620		-Ex: #5QSR<cr> might return *5QSR45<cr>
	780	+{{html wiki="true" clean="false"}}
	781	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	782	+Ex: #5SD1800&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	783	+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>
621	621
622		-(% class="wikigeneratedid" %)
623		-By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever an SD/SR command is processed. If #5QSR1<cr> is sent, the configured maximum speed (CSR value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
	785	+Query Speed in Degrees (**QSD**)<div class="wikimodel-emptyline"></div>
624	624
625		-|**Command sent**|**Returned value (1/10 °)**
626		-|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
627		-|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
628		-|ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
629		-|ex: #5QSR3<cr>|Target travel speed
	787	+Ex: #5QSD&lt;cr&gt; might return *5QSD1800&lt;cr&gt;<div class="wikimodel-emptyline"></div>
630	630
631		-Configure Speed in RPM (**CSR**)
	789	+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>
632	632
633		-Ex: #5CSR45<cr>
	791	+|**Command sent**|**Returned value (1/10 °)**
	792	+|ex: #5QSD&lt;cr&gt;|Session value for maximum speed (set by latest SD/SR command)
	793	+|ex: #5QSD1&lt;cr&gt;|Configured maximum speed in EEPROM (set by CSD/CSR)
	794	+|ex: #5QSD2&lt;cr&gt;|Instantaneous speed (same as QWD)
	795	+|ex: #5QSD3&lt;cr&gt;|Target travel speed<div class="wikimodel-emptyline"></div>
634	634
635		-Using the CSR command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSR value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) received is what the servo uses for that session.
636		-)))
	797	+Configure Speed in Degrees (**CSD**)<div class="wikimodel-emptyline"></div>
637	637
638		-== Modifiers ==
	799	+Ex: #5CSD1800&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	800	+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>
	801	+</div></div>
	802	+{{/html}}
639	639
640		-|(% colspan="2" %)(((
641		-====== __Speed __ ======
642		-)))
643		-|(% style="width:30px" %) |(((
644		-(% class="wikigeneratedid" %)
645		-Speed in Degrees (**SD**)
	804	+====== __Maximum Speed in RPM (**SR**)__ ======
646	646
647		-(% class="wikigeneratedid" id="HExample:235D0SD1803Ccr3E" %)
648		-Example: #5D0SD180<cr>
	806	+{{html wiki="true" clean="false"}}
	807	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	808	+Ex: #5SR45&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	809	+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>
649	649
650		-(% class="wikigeneratedid" %)
651		-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.
	811	+Query Speed in RPM (**QSR**)<div class="wikimodel-emptyline"></div>
652	652
653		-(% class="wikigeneratedid" %)
654		-Query Speed (**QS**)
	813	+Ex: #5QSR&lt;cr&gt; might return *5QSR45&lt;cr&gt;<div class="wikimodel-emptyline"></div>
655	655
656		-(% class="wikigeneratedid" %)
657		-Example: #5QS<cr> might return *5QS300<cr>
	815	+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>
658	658
659		-(% class="wikigeneratedid" %)
660		-This command queries the current speed in microseconds per second.
661		-)))
	817	+|**Command sent**|**Returned value (1/10 °)**
	818	+|ex: #5QSR&lt;cr&gt;|Session value for maximum speed (set by latest SD/SR command)
	819	+|ex: #5QSR1&lt;cr&gt;|Configured maximum speed in EEPROM (set by CSD/CSR)
	820	+|ex: #5QSR2&lt;cr&gt;|Instantaneous speed (same as QWD)
	821	+|ex: #5QSR3&lt;cr&gt;|Target travel speed<div class="wikimodel-emptyline"></div>
662	662
663		-|(% colspan="2" %)(((
664		-====== __Timed move__ ======
665		-)))
666		-|(% style="width:30px" %) |(((
667		-Timed Move (**T**)
	823	+Configure Speed in RPM (**CSR**)<div class="wikimodel-emptyline"></div>
668	668
669		-Example: #5D15000T2500<cr>
	825	+Ex: #5CSR45&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	826	+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>
	827	+</div></div>
	828	+{{/html}}
670	670
671		-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.
	830	+== Modifiers ==
672	672
673		-**Note:** If the calculated speed at which a servo must rotate for a timed move is greater than its maximum speed (which depends on voltage and load), then it will move at its maximum speed, and the time of the move may be longer than requested
674		-)))
	832	+====== __Speed (**S**, **SD**) modifier__ ======
675	675
676		-== Telemetry ==
	834	+{{html clean="false" wiki="true"}}
	835	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	836	+Example: #5P1500S750&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	837	+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>
	838	+Example: #5D0SD180&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	839	+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>
	840	+Query Speed (**QS**)<div class="wikimodel-emptyline"></div>
	841	+Example: #5QS&lt;cr&gt; might return *5QS300&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	842	+This command queries the current speed in microseconds per second.<div class="wikimodel-emptyline"></div>
	843	+</div></div>
	844	+{{/html}}
677	677
678		-|(% colspan="2" %)(((
679		-====== __Temperature PCB__ ======
680		-)))
681		-|(% style="width:30px" %) |(((
682		-Query Temp PCB (**QT**)
	846	+====== __Timed move (**T**) modifier__ ======
683	683
684		-Ex: #5QT<cr> might return *5QT564<cr>
	848	+{{html wiki="true" clean="false"}}
	849	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	850	+Example: #5P1500T2500&lt;cr&gt;<div class="wikimodel-emptyline"></div>
685	685
686		-The units are in tenths of degrees Celcius, so in the example above, the servo's internal temperature is 56.4 degrees C. To convert from degrees Celcius to degrees Farenheit, multiply by 1.8 and add 32. Therefore 56.4C = 133.52F.
687		-)))
	852	+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>
	853	+**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>
	854	+</div></div>
	855	+{{/html}}
688	688
689		-|(% colspan="2" %)(((
690		-====== __Current__ ======
691		-)))
692		-|(% style="width:30px" %) |(((
693		-(% class="wikigeneratedid" %)
694		-Query Current (**QC**)
	857	+====== __Current Halt & Hold (**CH**) modifier__ ======
695	695
696		-(% class="wikigeneratedid" id="HEx:235QC3Ccr3Emightreturn2A5QC1403Ccr3E" %)
697		-Ex: #5QC<cr> might return *5QC140<cr>
	859	+{{html wiki="true" clean="false"}}
	860	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	861	+Example: #5D1423CH400&lt;cr&gt;<div class="wikimodel-emptyline"></div>
698	698
699		-The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A. It represents the RMS value. The query calculates the RMS value of the current sent from the motor driver to the stepper motor.
700		-)))
	863	+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>
	864	+This modifier can be added to the following actions: D; MD; WD; WR.<div class="wikimodel-emptyline"></div>
	865	+</div></div>
	866	+{{/html}}
701	701
702		-|(% colspan="2" %)(((
703		-====== __Model String__ ======
704		-)))
705		-|(% style="width:30px" %) |(((
706		-(% class="wikigeneratedid" %)
707		-Query Model String (**QMS**)
	868	+====== __Current Limp (**CL**) modifier__ ======
708	708
709		-(% class="wikigeneratedid" id="HEx:235QMS3Ccr3Emightreturn2A5QMSLSS-HS13Ccr3E" %)
710		-Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
	870	+{{html wiki="true" clean="false"}}
	871	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	872	+Example: #5D1423CL400&lt;cr&gt;<div class="wikimodel-emptyline"></div>
711	711
712		-This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
713		-)))
	874	+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>
	875	+This modifier can be added to the following actions: D; MD; WD; WR.<div class="wikimodel-emptyline"></div>
	876	+</div></div>
	877	+{{/html}}
714	714
715		-|(% colspan="2" %)(((
716		-====== __Firmware__ ======
717		-)))
718		-|(% style="width:30px" %) |(((
719		-Query Firmware (**QF**)
	879	+== Telemetry ==
720	720
721		-Ex: #5QF<cr> might return *5QF368<cr>
	881	+====== __Query Voltage (**QV**)__ ======
722	722
723		-The number in the reply represents the firmware version, in this example being 368.The command #5QF3<cr> can also be sent and the servo will reply with a 3 numbers firmware version, for example, 368.29.14
724		-)))
	883	+{{html wiki="true" clean="false"}}
	884	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	885	+Ex: #5QV&lt;cr&gt; might return *5QV11200&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	886	+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>
	887	+</div></div>
	888	+{{/html}}
725	725
726		-|(% colspan="2" %)(((
727		-====== __Serial Number__ ======
728		-)))
729		-|(% style="width:30px" %) |(((
730		-(% class="wikigeneratedid" %)
731		-Query Serial Number (**QN**)
	890	+====== __Query Temperature (**QT**)__ ======
732	732
733		-(% class="wikigeneratedid" id="HEx:235QN3Ccr3Emightreturn2A5QN123456783Ccr3E" %)
734		-Ex: #5QN<cr> might return *5QN12345678<cr>
	892	+{{html wiki="true" clean="false"}}
	893	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	894	+Ex: #5QT&lt;cr&gt; might return *5QT564&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	895	+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>
	896	+</div></div>
	897	+{{/html}}
735	735
736		-The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
737		-)))
	899	+====== __Query Current (**QC**)__ ======
738	738
739		-|(% colspan="2" %)(((
740		-====== __Temperature Probe__ ======
741		-)))
742		-|(% style="width:30px" %) |(((
743		-Query Temp motor Probe (**QTP**)
744		-)))
	901	+{{html wiki="true" clean="false"}}
	902	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	903	+Ex: #5QC&lt;cr&gt; might return *5QC140&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	904	+The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.<div class="wikimodel-emptyline"></div>
	905	+</div></div>
	906	+{{/html}}
745	745
746		-|(% colspan="2" %)(((
747		-====== __Temperature MCU__ ======
748		-)))
749		-|(% style="width:30px" %) |(((
750		-Query Temp MCU (**QTM**)
751		-)))
	908	+====== __Query Model String (**QMS**)__ ======
752	752
753		-|(% colspan="2" %)(((
754		-====== __Temp Controller Error__ ======
755		-)))
756		-|(% style="width:30px" %) |(((
757		-(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
758		-Query Temp Controller Error (**QTCE**)
759		-)))
	910	+{{html wiki="true" clean="false"}}
	911	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	912	+Ex: #5QMS&lt;cr&gt; might return *5QMSLSS-HS1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	913	+This reply means that the servo model is LSS-HS1: a high speed servo, first revision.<div class="wikimodel-emptyline"></div>
	914	+</div></div>
	915	+{{/html}}
760	760
761		-|(% colspan="2" %)(((
762		-====== __Temp Controller Warning__ ======
763		-)))
764		-|(% style="width:30px" %) |(((
765		-(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
766		-Query Temp Controller Warning (**QTCW**)
767		-)))
	917	+====== __Query Firmware (**QF**)__ ======
768	768
769		-|(% colspan="2" %)(((
770		-====== __Error Flag__ ======
771		-)))
772		-|(% style="width:30px" %) |(((
773		-Query Error Flag (**QEF**)
774		-)))
	919	+{{html wiki="true" clean="false"}}
	920	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	921	+Ex: #5QF&lt;cr&gt; might return *5QF368&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	922	+The number in the reply represents the firmware version, in this example being 368.<div class="wikimodel-emptyline"></div>
	923	+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>
	924	+</div></div>
	925	+{{/html}}
775	775
776		-|(% colspan="2" %)(((
777		-====== __IMU Linear__ ======
778		-)))
779		-|(% style="width:30px" %) |(((
780		-(% class="wikigeneratedid" %)
781		-Query IMU Linear (**QIX QIY QIZ**)
	927	+====== __Query Serial Number (**QN**)__ ======
782	782
783		-(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
784		-Ex: #6QIX<cr> might return *6QIX30<cr>
	929	+{{html wiki="true" clean="false"}}
	930	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	931	+Ex: #5QN&lt;cr&gt; might return *5QN12345678&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	932	+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>
	933	+</div></div>
	934	+{{/html}}
785	785
786		-This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
787		-)))
	936	+== RGB LED ==
788	788
789		-|(% colspan="2" %)(((
790		-====== __IMU Angular__ ======
791		-)))
792		-|(% style="width:30px" %) |(((
793		-(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
794		-Query IMU Angular (**QIA QIB QIG**)
	938	+====== __LED Color (**LED**)__ ======
795	795
796		-(% class="wikigeneratedid" %)
797		-Ex: #6QIB<cr> might return *6QIB44<cr>
	940	+{{html wiki="true" clean="false"}}
	941	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	942	+Ex: #5LED3&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	943	+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>
	944	+0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;<div class="wikimodel-emptyline"></div>
	945	+Query LED Color (**QLED**)<div class="wikimodel-emptyline"></div>
	946	+Ex: #5QLED&lt;cr&gt; might return *5QLED5&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	947	+This simple query returns the indicated servo's LED color.<div class="wikimodel-emptyline"></div>
	948	+Configure LED Color (**CLED**)<div class="wikimodel-emptyline"></div>
	949	+Ex: #5CLED3&lt;cr&gt;<div class="wikimodel-emptyline"></div>
	950	+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>
	951	+</div></div>
	952	+{{/html}}
798	798
799		-This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
800		-)))
	954	+====== __Configure LED Blinking (**CLB**)__ ======
801	801
802		-== RGB LED ==
	956	+{{html wiki="true" clean="false"}}
	957	+<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	958	+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>
803	803
804		-|(% colspan="2" %)(((
805		-====== __LED Color__ ======
806		-)))
807		-|(% style="width:30px" %) |(((
808		-(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
809		-
810		-)))
	960	+(% style="width:195px" %)
	961	+|(% style="width:134px" %)**Blink While:**|(% style="width:58px" %)**#**
	962	+|(% style="width:134px" %)No blinking|(% style="width:58px" %)0
	963	+|(% style="width:134px" %)Limp|(% style="width:58px" %)1
	964	+|(% style="width:134px" %)Holding|(% style="width:58px" %)2
	965	+|(% style="width:134px" %)Accelerating|(% style="width:58px" %)4
	966	+|(% style="width:134px" %)Decelerating|(% style="width:58px" %)8
	967	+|(% style="width:134px" %)Free|(% style="width:58px" %)16
	968	+|(% style="width:134px" %)Travelling|(% style="width:58px" %)32
	969	+|(% style="width:134px" %)Always blink|(% style="width:58px" %)63<div class="wikimodel-emptyline"></div>
811	811
812		-|(% colspan="2" %)(((
813		-====== __LED Blinking__ ======
814		-)))
815		-|(% style="width:30px" %) |(((
816		-(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
817		-
818		-)))
	971	+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>
	972	+Ex: #5CLB0<cr> to turn off all blinking (LED always solid)<div class="wikimodel-emptyline"></div>
	973	+Ex: #5CLB1<cr> only blink when limp (1)<div class="wikimodel-emptyline"></div>
	974	+Ex: #5CLB2<cr> only blink when holding (2)<div class="wikimodel-emptyline"></div>
	975	+Ex: #5CLB12<cr> only blink when accel or decel (accel 4 + decel 8 = 12)<div class="wikimodel-emptyline"></div>
	976	+Ex: #5CLB48<cr> only blink when free or travel (free 16 + travel 32 = 48)<div class="wikimodel-emptyline"></div>
	977	+Ex: #5CLB63<cr> blink in all status (1 + 2 + 4 + 8 + 16 + 32)<div class="wikimodel-emptyline"></div>
	978	+RESETTING the servo is needed.<div class="wikimodel-emptyline"></div>
	979	+</div></div>
	980	+{{/html}}
819	819
820		-|(% colspan="2" %)(((
821		-====== __LED Indicator__ ======
822		-)))
823		-|(% style="width:30px" %) |(((
824		-(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
825		-
826		-)))
	982	+== RGB LED ==
827	827
828		-
	984	+The LED can be