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91	91
92	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).
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"]]
	94	+[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-positions.jpg||alt="LSS-servo-positions.jpg"]]
95	95
96	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:
97	97
...	...	@@ -116,67 +116,66 @@
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
	119	+| |[[**Reset**>>||anchor="HReset"]]|(% style="text-align:center" %)RESET|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Soft reset. See command for details.
	120	+| |[[**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
	121	+| |[[Firmware **Update** Mode>>||anchor="HUpdate26confirm"]]|(% style="text-align:center" %)UPDATE|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Update firmware. See command for details.
	122	+| |[[**Confirm** Changes>>||anchor="HConfirm"]]|(% style="text-align:center" %)CONFIRM|(% style="text-align:center" %) |(% style="text-align:center" %) | | |
	123	+| |[[**ID** Number >>||anchor="HIDNumber28ID29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QID|(% style="text-align:center" %)CID|0| |Reset required after change. ID 254 is a "broadcast" which all servos respond to.
	124	+| |[[**E**nable CAN **T**erminal>>doc:||anchor="HEnableCANTerminalResistor28ET29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QET|(% style="text-align:center" %)CET| |0 or 1|0: Disable  1: Enable
	125	+| |[[**U**SB **C**onnection Status>>||anchor="HUSBConnectionStatus28UC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QUC|(% style="text-align:center" %) | |0 or 1|0: Not connected 1: Connected
	126	+| |[[**Q**uery **F**irmware **R**elease>>doc:||anchor="HFirmwareRelease28FR29"]]|(% 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
	130	+| |[[Position in **D**egrees>>||anchor="HPositioninDegrees28D29"]]|(% style="text-align:center" %)D|(% style="text-align:center" %)QD/QDT|(% style="text-align:center" %) | |1/100°|
	131	+| |[[**M**ove in **D**egrees (relative)>>||anchor="H28Relative29MoveinDegrees28MD29"]]|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) | |1/100°|
	132	+| |[[**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"
	133	+| |[[**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"
	134	+| |[[**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
	135	+| |[[**L**imp>>||anchor="HLimp28L29"]]|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Removes power from stepper coils
	136	+| |[[**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
	140	+| |[[**O**rigin Offset>>||anchor="HOriginOffset28O29"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|0|1/10°|
	141	+| |[[**A**ngular **R**ange>>||anchor="HAngularRange28AR29"]]|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|1800|1/10°|
	142	+| |[[**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).
	143	+| |[[**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).
	144	+| |[[**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)
	145	+| |[[**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.
	146	+| |[[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
	147	+| |[[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	+| |[[Step Mode>>doc:||anchor="HStepMode28SM29"]]|(% style="text-align:center" %)SM|(% style="text-align:center" %)QM|(% style="text-align:center" %)CSM|2|1, 2, 4|Numbers represent fractions: full step, ½ step, ¼ step
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
	152	+| |[[**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
	153	+| |[[**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)
	156	+|(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
	157	+| |[[**Q**uery PCB **T**emperature>>||anchor="HQueryTemperature28QT29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) | |°C|
	158	+| |[[**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.
	159	+| |[[**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)
	160	+| |[[**Q**uery **F**irmware Version>>||anchor="HQueryFirmware28QF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | | |
	161	+| |[[**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
	162	+| |[[**Q**uery **T**emperature **P**robe>>doc:||anchor="HQueryTemperatureProbe28QTP29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | | |Queries temperature probe fixed to the stepper motor
	163	+| |[[**Q**uery **T**emp of **M**CU>>doc:||anchor="HQueryMCUTemperature28QTM29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTM|(% style="text-align:center" %) | | |
	164	+| |[[**Q**uery **T**emp of **C**ontroller>>doc:||anchor="HQueryTempofController28QTCW29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW, QTCE|(% style="text-align:center" %) | | |(((
	165	+QTCW: Queries the temperature status of the motor controller (pre-warning)
	166	+
	167	+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)
	169	+| |[[**Q**uery **I**MU Linear **X**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |mm/s^2|
	170	+| |[[**Q**uery **I**MU Linear **Y**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |mm/s^2|
	171	+| |[[**Q**uery **I**MU Linear **Z**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2|
	172	+| |[[**Q**uery **I**MU Angular Accel **α** >>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel α (Alpha)
	173	+| |[[**Q**uery **I**MU Angular Accel **β**>>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel β (Beta)
	174	+| |[[**Q**uery **I**MU Angular Accel **γ**>>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIC / QIG|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel γ (Gamma)
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" %) |
	177	+|(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
	178	+| |[[**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
180	180
181	181	= (% style="color:inherit; font-family:inherit" %)Details(%%) =
182	182
...	...	@@ -186,8 +186,6 @@
186	186	====== __Reset__ ======
187	187	)))
188	188	| |(((
189		-Reset (**RESET**)
190		-
191	191	Ex: #5RESET<cr>
192	192
193	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.
...	...	@@ -194,11 +194,9 @@
194	194	)))
195	195
196	196	|(% colspan="2" %)(((
197		-====== (% style="color:inherit; font-family:inherit" %)__Default__(%%) ======
	194	+====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
198	198	)))
199	199	|(% style="width:30px" %) |(((
200		-(% style="color:inherit; font-family:inherit" %)Default (**DEFAULT**)
201		-
202	202	(% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
203	203
204	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.
...	...	@@ -211,11 +211,9 @@
211	211	)))
212	212
213	213	|(% colspan="2" %)(((
214		-====== (% style="color:inherit; font-family:inherit" %)__Update__(%%) ======
	209	+====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
215	215	)))
216	216	|(% style="width:30px" %) |(((
217		-(% style="color:inherit; font-family:inherit" %)Update (**UPDATE**)
218		-
219	219	(% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
220	220
221	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.
...	...	@@ -231,8 +231,6 @@
231	231	====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
232	232	)))
233	233	|(% style="width:30px" %) |(((
234		-(% style="color:inherit; font-family:inherit" %)Confirm (**CONFIRM**)
235		-
236	236	(% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
237	237
238	238	(% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
...	...	@@ -284,6 +284,17 @@
284	284	Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
285	285	)))
286	286
	278	+|(% colspan="2" %)(((
	279	+====== __Firmware Release__ ======
	280	+)))
	281	+|(% style="width:30px" %) |(((
	282	+Query Firmware Release (**QFR**)
	283	+
	284	+Ex: #5QFR<cr> might return *QFR11<cr> meaning it has a (random) firmware release version number 11.
	285	+
	286	+This is used to verify if the firmware on the servos is up to date, or which version is running on the microcontroller.
	287	+)))
	288	+
287	287	== Motion ==
288	288
289	289	|(% colspan="2" %)(((
...	...	@@ -312,17 +312,14 @@
312	312	)))
313	313
314	314	|(% colspan="2" %)(((
315		-====== __Relative Move in Degrees__ ======
	317	+====== __(Relative) Move in Degrees__ ======
316	316	)))
317	317	|(% style="width:30px" %) |(((
318		-(% class="wikigeneratedid" %)
319	319	Move in Degrees (**MD**)
320	320
321		-(% class="wikigeneratedid" %)
322		-Example: #5M1500<cr>
	322	+Example: #5MD123<cr>
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.
	324	+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.
326	326	)))
327	327
328	328	|(% colspan="2" %)(((
...	...	@@ -360,9 +360,23 @@
360	360	)))
361	361
362	362	|(% colspan="2" %)(((
363		-====== __Status__ ======
	362	+====== __(Relative) Move in Degrees__ ======
364	364	)))
365	365	|(% style="width:30px" %) |(((
	365	+(% class="wikigeneratedid" %)
	366	+Move in Degrees (**MD**)
	367	+
	368	+(% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
	369	+Example: #5M1500<cr>
	370	+
	371	+(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
	372	+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.
	373	+)))
	374	+
	375	+|(% colspan="2" %)(((
	376	+====== __Query Status__ ======
	377	+)))
	378	+|(% style="width:30px" %) |(((
366	366	Query Status (**Q**)
367	367
368	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.
...	...	@@ -372,13 +372,19 @@
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 ([[HERE>>doc:||anchor="#HErrorFlag"]])
	388	+| |ex: *5Q2<cr>|2: Free moving|Servo is rotating in duty motion / free move using the RDM command
	389	+| |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
	390	+| |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
	391	+| |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
	392	+| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will normally be holding)
	393	+| |ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
	394	+| |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
	395	+| |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
	396	+| |ex: *5Q10<cr>|10: Safe Mode|(((
	397	+A safety limit has been exceeded (temperature, peak current or extended high current draw).
380	380
381		-*Value returned (Q)StatusDetailed description
	399	+Send a Q1 command to know which limit has been reached (described below).
	400	+)))
382	382
383	383	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.
384	384
...	...	@@ -390,23 +390,11 @@
390	390	)))
391	391
392	392	|(% colspan="2" %)(((
393		-====== __Motion Time__ ======
394		-)))
395		-|(% style="width:30px" %) |(((
396		-Query Motion Time (**QMT**)
397		-)))
398		-
399		-|(% colspan="2" %)(((
400		-====== __Current Speed__ ======
401		-)))
402		-|(% style="width:30px" %) |(((
403		-Query Current Speed (**QCS**)
404		-)))
405		-
406		-|(% colspan="2" %)(((
407	407	====== __Limp__ ======
408	408	)))
409	409	|(% style="width:30px" %) |(((
	415	+Limp (**L**)
	416	+
410	410	Example: #5L<cr>
411	411
412	412	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>.
...	...	@@ -416,6 +416,8 @@
416	416	====== __Halt & Hold__ ======
417	417	)))
418	418	|(% style="width:30px" %) |(((
	426	+Halt & Hold (**H**)
	427	+
419	419	Example: #5H<cr>
420	420
421	421	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.)
...	...	@@ -423,18 +423,16 @@
423	423
424	424	== Motion Setup ==
425	425
426		-|(% colspan="2" %)(((
427		-====== __Origin Offset__ ======
428		-)))
429		-|(% style="width:30px" %) |(((
	435	+====== __Origin Offset (**O**)__ ======
	436	+
430	430	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).
431	431
432		-[[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"]]
	439	+[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]
433	433
434	434
435	435	In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
436	436
437		-[[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"]]
	444	+[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-origin.jpg||alt="LSS-servo-origin.jpg"]]
438	438
439	439
440	440	Origin Offset Query (**QO**)
...	...	@@ -448,26 +448,23 @@
448	448	Example: #5CO-24<cr>
449	449
450	450	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.
451		-)))
452	452
453		-|(% colspan="2" %)(((
454		-====== __Angular Range__ ======
455		-)))
456		-|(% style="width:30px" %) |(((
	459	+====== __Angular Range (**AR**)__ ======
	460	+
457	457	Example: #5AR1800<cr>
458	458
459	459	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:
460	460
461		-[[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"]]
	465	+[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]
462	462
463	463	Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
464	464
465		-[[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"]]
	469	+[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar.jpg||alt="LSS-servo-ar.jpg"]]
466	466
467	467
468	468	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:
469	469
470		-[[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"]]
	474	+[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar-o-1.jpg||alt="LSS-servo-ar-o-1.jpg"]]
471	471
472	472
473	473	Query Angular Range (**QAR**)
...	...	@@ -477,12 +477,9 @@
477	477	Configure Angular Range (**CAR**)
478	478
479	479	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.
480		-)))
481	481
482		-|(% colspan="2" %)(((
483		-====== __Angular Acceleration__ ======
484		-)))
485		-|(% style="width:30px" %) |(((
	485	+====== __Angular Acceleration (**AA**)__ ======
	486	+
486	486	The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
487	487
488	488	Ex: #5AA30<cr>
...	...	@@ -500,12 +500,9 @@
500	500	Ex: #5CAA30<cr>
501	501
502	502	This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
503		-)))
504	504
505		-|(% colspan="2" %)(((
506		-====== __Angular Deceleration__ ======
507		-)))
508		-|(% style="width:30px" %) |(((
	505	+====== __Angular Deceleration (**AD**)__ ======
	506	+
509	509	The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
510	510
511	511	Ex: #5AD30<cr>
...	...	@@ -523,12 +523,9 @@
523	523	Ex: #5CAD30<cr>
524	524
525	525	This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
526		-)))
527	527
528		-|(% colspan="2" %)(((
529		-====== __Gyre Direction__ ======
530		-)))
531		-|(% style="width:30px" %) |(((
	525	+====== __Gyre Direction (**G**)__ ======
	526	+
532	532	"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.
533	533
534	534	Ex: #5G-1<cr>
...	...	@@ -546,24 +546,15 @@
546	546	Ex: #5CG-1<cr>
547	547
548	548	This changes the gyre direction as described above and also writes to EEPROM.
549		-)))
550	550
551		-|(% colspan="2" %)(((
552		-====== __Maximum Speed in Degrees__ ======
553		-)))
554		-|(% style="width:30px" %) |(((
555		-Maximum Speed in Degrees (**SD**)
	545	+====== __First Position__ ======
556	556
557		-Ex: #5SD1800<cr>
	547	+In certain cases, a user might want to have the servo move to a specific angle upon power up; we refer to this as "first position" (a.k.a. "initial position"). The factory default has no first position value stored in EEPROM and therefore upon power up, the servo remains limp until a position (or hold command) is assigned. Note that the number should be restricted to -1790 (-179.0 degrees) to +1790 (179.0 degrees) and values beyond this will be changed to 1800.Query First Position in Degrees (**QFD**)Ex: #5QFD<cr> might return *5QFD900<cr>The reply above indicates that servo with ID 5 has a first position of 90.0 degrees. If there is no first position value stored, the reply will be DIS.Configure First Position in Degrees (**CFD**)Ex: #5CFD900<cr>This configuration command means the servo, when set to smart mode, will immediately move to 90.0 degrees upon power up. Sending a CFD command without a number (Ex. #5CFD<cr>) results in the servo remaining limp upon power up. In order to remove the first position, send no value, ex: #5CFD<cr>
558	558
559		-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.
	549	+====== __Maximum Speed in Degrees (**SD**)__ ======
560	560
561		-Query Speed in Degrees (**QSD**)
	551	+Ex: #5SD1800<cr>This command sets the servo's maximum speed for motion commands in tenths of degrees per second for that session. In the example above, the servo's maximum speed for that session would be set to 180.0 degrees per second. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. The SD action command overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD and SR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.Query Speed in Degrees (**QSD**)Ex: #5QSD<cr> might return *5QSD1800<cr>By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever an SD/SR command is processed. If #5QSD1<cr> is sent, the configured maximum speed (CSD value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
562	562
563		-Ex: #5QSD<cr> might return *5QSD1800<cr>
564		-
565		-By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever an SD/SR command is processed. If #5QSD1<cr> is sent, the configured maximum speed (CSD value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
566		-
567	567	|**Command sent**|**Returned value (1/10 °)**
568	568	|ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
569	569	|ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
...	...	@@ -570,64 +570,43 @@
570	570	|ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
571	571	|ex: #5QSD3<cr>|Target travel speed
572	572
573		-Configure Speed in Degrees (**CSD**)
	559	+Configure Speed in Degrees (**CSD**)Ex: #5CSD1800<cr>Using the CSD command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 180.0 degrees per second. When the servo is powered on (or after a reset), the CSD value is used. Note that CSD and CSR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.
574	574
575		-Ex: #5CSD1800<cr>
	561	+====== __Maximum Speed in RPM (**SR**)__ ======
576	576
577		-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.
578		-)))
	563	+Ex: #5SR45<cr>This command sets the servo's maximum speed for motion commands in rpm for that session. In the example above, the servo's maximum speed for that session would be set to 45rpm. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SR overrides CSR (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSR as described below. Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.Query Speed in RPM (**QSR**)Ex: #5QSR<cr> might return *5QSR45<cr>By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever an SD/SR command is processed. If #5QSR1<cr> is sent, the configured maximum speed (CSR value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
579	579
580		-|(% colspan="2" %)(((
581		-====== __Maximum Speed in RPM__ ======
582		-)))
583		-|(% style="width:30px" %) |(((
584		-(% class="wikigeneratedid" %)
585		-Maximum Speed in RPM (**SR**)
	565	+|**Command sent**|**Returned value (1/10 °)**
	566	+|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
	567	+|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
	568	+|ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
	569	+|ex: #5QSR3<cr>|Target travel speed
586	586
587		-(% class="wikigeneratedid" id="HEx:235SR453Ccr3EThiscommandsetstheservo27smaximumspeedformotioncommandsinrpmforthatsession.Intheexampleabove2Ctheservo27smaximumspeedforthatsessionwouldbesetto45rpm.Theservo27smaximumspeedcannotbesethigherthanitsphysicallimitatagivenvoltage.SRoverridesCSR28describedbelow29forthatsession.Uponresetorpowercycle2CtheservorevertstothevalueassociatedwithCSRasdescribedbelow.NotethatSD28describedabove29andSRareeffectivelythesame2Cbutallowtheusertospecifythespeedineitherunit.Thelastcommand28eitherSRorSD29receivediswhattheservousesforthatsession.QuerySpeedinRPM28QSR29Ex:235QSR3Ccr3Emightreturn2A5QSR453Ccr3EBydefaultQSRwillreturnthecurrentsessionvalue2CwhichissettothevalueofCSRasreset2FpowercycleandchangedwheneveranSD2FSRcommandisprocessed.If235QSR13Ccr3Eissent2Ctheconfiguredmaximumspeed28CSRvalue29willbereturnedinstead.Youcanalsoquerythecurrentspeedusing22222andthecurrenttargettravelspeedusing22322.Seethetablebelowforanexample:" %)
588		-Ex: #5SR45<cr>
	571	+Configure Speed in RPM (**CSR**)Ex: #5CSR45<cr>Using the CSR command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSR value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) received is what the servo uses for that session.
589	589
590		-(% class="wikigeneratedid" %)
591		-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.
	573	+====== __Step Mode (**SM**)__ ======
592	592
593		-(% class="wikigeneratedid" %)
594		-Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit.
	575	+Ex: #8SM2<cr>
595	595
596		-(% class="wikigeneratedid" %)
597		-The last command (either SR or SD) received is what the servo uses for that session.
	577	+This sets servo with ID 8 to 1/2 step mode. Since this is an action as opposed to a configuration, it only affects that session.
598	598
599		-(% class="wikigeneratedid" %)
600		-Query Speed in RPM (**QSR**)
	579	+Note that the torque and max RPM of the actuator will be affected.
601	601
602		-(% class="wikigeneratedid" %)
603		-Ex: #5QSR<cr> might return *5QSR45<cr>
	581	+Query Step Mode (**QSM**)
604	604
605		-(% class="wikigeneratedid" %)
606		-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:
	583	+Ex: #8QSM<cr> might return *8QSM2<cr> meaning servo with ID 8 is set to half step mode.
607	607
608		-|**Command sent**|**Returned value (1/10 °)**
609		-|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
610		-|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
611		-|ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
612		-|ex: #5QSR3<cr>|Target travel speed
	585	+Configure Step Mode (**CSM**)
613	613
614		-Configure Speed in RPM (**CSR**)
	587	+Ex: #8SM2<cr>
615	615
616		-Ex: #5CSR45<cr>
	589	+This sets servo with ID 8 to 1/2 step mode. Since this is a configuration as opposed to a configuration and the servo will be in 1/2 step mode when powered.
617	617
618		-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.
619		-)))
620		-
621	621	== Modifiers ==
622	622
623		-|(% colspan="2" %)(((
624		-====== __Speed __ ======
625		-)))
626		-|(% style="width:30px" %) |(((
627		-(% class="wikigeneratedid" %)
628		-Speed in Degrees (**SD**)
	593	+====== __Speed (**SD**) modifier__ ======
629	629
630		-(% class="wikigeneratedid" id="HExample:235D0SD1803Ccr3E" %)
	595	+(% class="wikigeneratedid" id="HTimedmove28T29modifier" %)
631	631	Example: #5D0SD180<cr>
632	632
633	633	(% class="wikigeneratedid" %)
...	...	@@ -641,13 +641,8 @@
641	641
642	642	(% class="wikigeneratedid" %)
643	643	This command queries the current speed in microseconds per second.
644		-)))
645	645
646		-|(% colspan="2" %)(((
647		-====== __Timed move__ ======
648		-)))
649		-|(% style="width:30px" %) |(((
650		-Timed Move (**T**)
	610	+====== __Timed move (**T**) modifier__ ======
651	651
652	652	Example: #5D15000T2500<cr>
653	653
...	...	@@ -654,175 +654,61 @@
654	654	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.
655	655
656	656	**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
657		-)))
658	658
	618	+====== ======
	619	+
659	659	== Telemetry ==
660	660
661		-|(% colspan="2" %)(((
662		-====== __Temperature PCB__ ======
663		-)))
664		-|(% style="width:30px" %) |(((
665		-Query Temp PCB (**QT**)
	622	+====== __Query PCB Temperature (**QT**)__ ======
666	666
667	667	Ex: #5QT<cr> might return *5QT564<cr>
668	668
669	669	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.
670		-)))
671	671
672		-|(% colspan="2" %)(((
673		-====== __Current__ ======
674		-)))
675		-|(% style="width:30px" %) |(((
676		-(% class="wikigeneratedid" %)
677		-Query Current (**QC**)
	628	+====== __Query Temperature Probe (**QTP**)__ ======
678	678
679		-(% class="wikigeneratedid" id="HEx:235QC3Ccr3Emightreturn2A5QC1403Ccr3E" %)
	630	+Ex:
	631	+
	632	+====== __Query Temp of Controller (**QTCW**)__ ======
	633	+
	634	+Ex:
	635	+
	636	+An alternative is QTCE
	637	+
	638	+====== __Query Current (**QC**)__ ======
	639	+
680	680	Ex: #5QC<cr> might return *5QC140<cr>
681	681
682	682	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.
683		-)))
684	684
685		-|(% colspan="2" %)(((
686		-====== __Model String__ ======
687		-)))
688		-|(% style="width:30px" %) |(((
689		-(% class="wikigeneratedid" %)
690		-Query Model String (**QMS**)
	644	+====== __Query Model String (**QMS**)__ ======
691	691
692		-(% class="wikigeneratedid" id="HEx:235QMS3Ccr3Emightreturn2A5QMSLSS-HS13Ccr3E" %)
693	693	Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
694	694
695	695	This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
696		-)))
697	697
698		-|(% colspan="2" %)(((
699		-====== __Firmware__ ======
700		-)))
701		-|(% style="width:30px" %) |(((
702		-Query Firmware (**QF**)
	650	+====== __Query Firmware (**QF**)__ ======
703	703
704	704	Ex: #5QF<cr> might return *5QF368<cr>
705	705
706	706	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
707		-)))
708	708
709		-|(% colspan="2" %)(((
710		-====== __Serial Number__ ======
711		-)))
712		-|(% style="width:30px" %) |(((
713		-(% class="wikigeneratedid" %)
714		-Query Serial Number (**QN**)
	656	+====== __Query Serial Number (**QN**)__ ======
715	715
716		-(% class="wikigeneratedid" id="HEx:235QN3Ccr3Emightreturn2A5QN123456783Ccr3E" %)
717	717	Ex: #5QN<cr> might return *5QN12345678<cr>
718	718
719	719	The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
720		-)))
721	721
722		-|(% colspan="2" %)(((
723		-====== __Temperature Probe__ ======
724		-)))
725		-|(% style="width:30px" %) |(((
726		-Query Temp motor Probe (**QTP**)
727		-)))
	662	+====== __Query IMU Linear (**QIX** **QIY** **QIZ**)__ ======
728	728
729		-|(% colspan="2" %)(((
730		-====== __Temperature MCU__ ======
731		-)))
732		-|(% style="width:30px" %) |(((
733		-Query Temp MCU (**QTM**)
734		-)))
735		-
736		-|(% colspan="2" %)(((
737		-====== __Temp Controller Error__ ======
738		-)))
739		-|(% style="width:30px" %) |(((
740		-(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
741		-Query Temp Controller Error (**QTCE**)
742		-)))
743		-
744		-|(% colspan="2" %)(((
745		-====== __Temp Controller Warning__ ======
746		-)))
747		-|(% style="width:30px" %) |(((
748		-(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
749		-Query Temp Controller Warning (**QTCW**)
750		-)))
751		-
752		-|(% colspan="2" %)(((
753		-====== __Error Flag__ ======
754		-)))
755		-|(% style="width:30px" %) |(((
756		-Query Error Flag (**QEF**)
757		-
758		-|(% style="width:25px" %) |***Value returned (QEF)**|**Status**|**Detailed description**
759		-| |ex: *5QEF0<cr>|0: LSSP_ERROR_BITS_PCBOverTemerature|
760		-| |ex: *5QEF1<cr>|1: LSSP_ERROR_BITS_MCUOverTemerature|
761		-| |ex: *5QEF2<cr>|2: LSSP_ERROR_BITS_MotorProbeOverTemerature|
762		-| |ex: *5QEF3<cr>|3: LSSP_ERROR_BITS_MotorDriverOverTemerature|
763		-| |ex: *5QEF4<cr>|4: LSSP_ERROR_BITS_Blocked|
764		-| |ex: *5QEF5<cr>|5: LSSP_ERROR_BITS_ExceedSpeedLimit|
765		-| |ex: *5QEF6<cr>|6: LSSP_ERROR_BITS_ExceedAccelLimit|
766		-| |ex: *5QEF7<cr>|7: LSSP_ERROR_BITS_ExceedDecelLimit|
767		-| |ex: *5QEF8<cr>|8: LSSP_ERROR_BITS_CurrentPositionOutOfRangePlus|
768		-| |ex: *5QEF9<cr>|9: LSSP_ERROR_BITS_CurrentPositionOutOfRangeMinus|
769		-| |ex: *5QEF10<cr>|10: LSSP_ERROR_BITS_EEPROMHeaderDataError|
770		-| |ex: *5QEF11<cr>|11: LSSP_ERROR_BITS_EEPROMCheckSumError|
771		-| |ex: *5QEF12<cr>|12: LSSP_ERROR_BITS_EEPROMMapVersionIsNotSupported|
772		-
773		-
774		-)))
775		-
776		-|(% colspan="2" %)(((
777		-====== __IMU Linear__ ======
778		-)))
779		-|(% style="width:30px" %) |(((
780		-(% class="wikigeneratedid" %)
781		-Query IMU Linear (**QIX QIY QIZ**)
782		-
783		-(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
784	784	Ex: #6QIX<cr> might return *6QIX30<cr>
785	785
786	786	This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
787		-)))
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**)
	668	+====== __Query IMU Angular (**QIA** **QIB** **QIC**)__ ======
795	795
796		-(% class="wikigeneratedid" %)
797	797	Ex: #6QIB<cr> might return *6QIB44<cr>
798	798
799	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		-)))
801	801
802		-== RGB LED ==
803		-
804		-|(% colspan="2" %)(((
805		-====== __LED Color__ ======
806		-)))
807		-|(% style="width:30px" %) |(((
808		-(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
809	809
810		-)))
811		-
812		-|(% colspan="2" %)(((
813		-====== __LED Blinking__ ======
814		-)))
815		-|(% style="width:30px" %) |(((
816		-(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
817		-
818		-)))
819		-
820		-|(% colspan="2" %)(((
821		-====== __LED Indicator__ ======
822		-)))
823		-|(% style="width:30px" %) |(((
824		-(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
825		-
826		-)))
827		-
828		-