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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" %)(((
...	...	@@ -333,9 +333,6 @@
333	333
334	334	Ex: #5WD90<cr>
335	335
336		-⚠️ //Note~:// The servo’s **Angular Range (AR)** must be disabled when using Wheel Mode.
337		-Set AR0 (or CAR0 to save) before sending this command, otherwise the servo **will not rotate**.
338		-
339	339	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).
340	340
341	341	Query Wheel Mode in Degrees (**QWD**)
...	...	@@ -353,9 +353,6 @@
353	353
354	354	Ex: #5WR40<cr>
355	355
356		-⚠️ //Note~:// The servo’s **Angular Range (AR)** must be disabled when using Wheel Mode.
357		-Set AR0 (or CAR0 to save) before sending this command, otherwise the servo **will not rotate**.
358		-
359	359	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).
360	360
361	361	Query Wheel Mode in RPM (**QWR**)
...	...	@@ -366,9 +366,23 @@
366	366	)))
367	367
368	368	|(% colspan="2" %)(((
369		-====== __Status__ ======
	362	+====== __(Relative) Move in Degrees__ ======
370	370	)))
371	371	|(% 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" %) |(((
372	372	Query Status (**Q**)
373	373
374	374	The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
...	...	@@ -378,13 +378,19 @@
378	378	|(% style="width:25px" %) |***Value returned (Q)**|**Status**|**Detailed description**
379	379	| |ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
380	380	| |ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely
381		-| |ex: *5Q2<cr>|2: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
382		-| |ex: *5Q3<cr>|3: Traveling|Moving at a stable speed
383		-| |ex: *5Q4<cr>|4: Decelerating|Decreasing from travel speed towards final position.
384		-| |ex: *5Q5<cr>|5: Holding|Keeping current position (in EM0 mode, return will normally be holding)
385		-| |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).
386	386
387		-*Value returned (Q)StatusDetailed description
	399	+Send a Q1 command to know which limit has been reached (described below).
	400	+)))
388	388
389	389	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.
390	390
...	...	@@ -396,29 +396,11 @@
396	396	)))
397	397
398	398	|(% colspan="2" %)(((
399		-====== __Motion Time__ ======
400		-)))
401		-|(% style="width:30px" %) |(((
402		-Query Motion Time (**QMT**)
403		-
404		-Ex: #5QMT9000<cr> might return *5QMT1000<cr>, which indicates the motor would take 1.000s to do that movement.
405		-
406		-This is really important for movement using the modifier "T" as asking a movement that could not be achieved in the time asked will result in no movement.
407		-)))
408		-
409		-|(% colspan="2" %)(((
410		-====== __Current Speed__ ======
411		-)))
412		-|(% style="width:30px" %) |(((
413		-Query Current Speed (**QCS**)
414		-
415		-Ex: #5QCS<cr> might return *5QCS1245<cr>, which indicate the actuator is moving currently at 12deg/s.
416		-)))
417		-
418		-|(% colspan="2" %)(((
419	419	====== __Limp__ ======
420	420	)))
421	421	|(% style="width:30px" %) |(((
	415	+Limp (**L**)
	416	+
422	422	Example: #5L<cr>
423	423
424	424	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>.
...	...	@@ -428,6 +428,8 @@
428	428	====== __Halt & Hold__ ======
429	429	)))
430	430	|(% style="width:30px" %) |(((
	426	+Halt & Hold (**H**)
	427	+
431	431	Example: #5H<cr>
432	432
433	433	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.)
...	...	@@ -435,18 +435,16 @@
435	435
436	436	== Motion Setup ==
437	437
438		-|(% colspan="2" %)(((
439		-====== __Origin Offset__ ======
440		-)))
441		-|(% style="width:30px" %) |(((
	435	+====== __Origin Offset (**O**)__ ======
	436	+
442	442	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).
443	443
444		-[[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"]]
445	445
446	446
447	447	In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
448	448
449		-[[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"]]
450	450
451	451
452	452	Origin Offset Query (**QO**)
...	...	@@ -460,26 +460,23 @@
460	460	Example: #5CO-24<cr>
461	461
462	462	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.
463		-)))
464	464
465		-|(% colspan="2" %)(((
466		-====== __Angular Range__ ======
467		-)))
468		-|(% style="width:30px" %) |(((
	459	+====== __Angular Range (**AR**)__ ======
	460	+
469	469	Example: #5AR1800<cr>
470	470
471	471	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:
472	472
473		-[[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"]]
474	474
475	475	Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
476	476
477		-[[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"]]
478	478
479	479
480	480	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:
481	481
482		-[[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"]]
483	483
484	484
485	485	Query Angular Range (**QAR**)
...	...	@@ -490,14 +490,8 @@
490	490
491	491	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.
492	492
493		-⚠️ //Note~:// Setting AR0 removes angular limits and allows **continuous rotation**.
494		-This is required for **Wheel Mode (WD / WR)** otherwise the servo **will not move**.
495		-)))
	485	+====== __Angular Acceleration (**AA**)__ ======
496	496
497		-|(% colspan="2" %)(((
498		-====== __Angular Acceleration__ ======
499		-)))
500		-|(% style="width:30px" %) |(((
501	501	The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
502	502
503	503	Ex: #5AA30<cr>
...	...	@@ -515,12 +515,9 @@
515	515	Ex: #5CAA30<cr>
516	516
517	517	This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
518		-)))
519	519
520		-|(% colspan="2" %)(((
521		-====== __Angular Deceleration__ ======
522		-)))
523		-|(% style="width:30px" %) |(((
	505	+====== __Angular Deceleration (**AD**)__ ======
	506	+
524	524	The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
525	525
526	526	Ex: #5AD30<cr>
...	...	@@ -538,12 +538,9 @@
538	538	Ex: #5CAD30<cr>
539	539
540	540	This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
541		-)))
542	542
543		-|(% colspan="2" %)(((
544		-====== __Gyre Direction__ ======
545		-)))
546		-|(% style="width:30px" %) |(((
	525	+====== __Gyre Direction (**G**)__ ======
	526	+
547	547	"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.
548	548
549	549	Ex: #5G-1<cr>
...	...	@@ -561,24 +561,15 @@
561	561	Ex: #5CG-1<cr>
562	562
563	563	This changes the gyre direction as described above and also writes to EEPROM.
564		-)))
565	565
566		-|(% colspan="2" %)(((
567		-====== __Maximum Speed in Degrees__ ======
568		-)))
569		-|(% style="width:30px" %) |(((
570		-Maximum Speed in Degrees (**SD**)
	545	+====== __First Position__ ======
571	571
572		-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>
573	573
574		-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**)__ ======
575	575
576		-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:
577	577
578		-Ex: #5QSD<cr> might return *5QSD1800<cr>
579		-
580		-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:
581		-
582	582	|**Command sent**|**Returned value (1/10 °)**
583	583	|ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
584	584	|ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
...	...	@@ -585,64 +585,43 @@
585	585	|ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
586	586	|ex: #5QSD3<cr>|Target travel speed
587	587
588		-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.
589	589
590		-Ex: #5CSD1800<cr>
	561	+====== __Maximum Speed in RPM (**SR**)__ ======
591	591
592		-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.
593		-)))
	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:
594	594
595		-|(% colspan="2" %)(((
596		-====== __Maximum Speed in RPM__ ======
597		-)))
598		-|(% style="width:30px" %) |(((
599		-(% class="wikigeneratedid" %)
600		-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
601	601
602		-(% class="wikigeneratedid" id="HEx:235SR453Ccr3EThiscommandsetstheservo27smaximumspeedformotioncommandsinrpmforthatsession.Intheexampleabove2Ctheservo27smaximumspeedforthatsessionwouldbesetto45rpm.Theservo27smaximumspeedcannotbesethigherthanitsphysicallimitatagivenvoltage.SRoverridesCSR28describedbelow29forthatsession.Uponresetorpowercycle2CtheservorevertstothevalueassociatedwithCSRasdescribedbelow.NotethatSD28describedabove29andSRareeffectivelythesame2Cbutallowtheusertospecifythespeedineitherunit.Thelastcommand28eitherSRorSD29receivediswhattheservousesforthatsession.QuerySpeedinRPM28QSR29Ex:235QSR3Ccr3Emightreturn2A5QSR453Ccr3EBydefaultQSRwillreturnthecurrentsessionvalue2CwhichissettothevalueofCSRasreset2FpowercycleandchangedwheneveranSD2FSRcommandisprocessed.If235QSR13Ccr3Eissent2Ctheconfiguredmaximumspeed28CSRvalue29willbereturnedinstead.Youcanalsoquerythecurrentspeedusing22222andthecurrenttargettravelspeedusing22322.Seethetablebelowforanexample:" %)
603		-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.
604	604
605		-(% class="wikigeneratedid" %)
606		-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**)__ ======
607	607
608		-(% class="wikigeneratedid" %)
609		-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>
610	610
611		-(% class="wikigeneratedid" %)
612		-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.
613	613
614		-(% class="wikigeneratedid" %)
615		-Query Speed in RPM (**QSR**)
	579	+Note that the torque and max RPM of the actuator will be affected.
616	616
617		-(% class="wikigeneratedid" %)
618		-Ex: #5QSR<cr> might return *5QSR45<cr>
	581	+Query Step Mode (**QSM**)
619	619
620		-(% class="wikigeneratedid" %)
621		-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.
622	622
623		-|**Command sent**|**Returned value (1/10 °)**
624		-|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
625		-|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
626		-|ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
627		-|ex: #5QSR3<cr>|Target travel speed
	585	+Configure Step Mode (**CSM**)
628	628
629		-Configure Speed in RPM (**CSR**)
	587	+Ex: #8SM2<cr>
630	630
631		-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.
632	632
633		-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.
634		-)))
635		-
636	636	== Modifiers ==
637	637
638		-|(% colspan="2" %)(((
639		-====== __Speed __ ======
640		-)))
641		-|(% style="width:30px" %) |(((
642		-(% class="wikigeneratedid" %)
643		-Speed in Degrees (**SD**)
	593	+====== __Speed (**SD**) modifier__ ======
644	644
645		-(% class="wikigeneratedid" id="HExample:235D0SD1803Ccr3E" %)
	595	+(% class="wikigeneratedid" id="HTimedmove28T29modifier" %)
646	646	Example: #5D0SD180<cr>
647	647
648	648	(% class="wikigeneratedid" %)
...	...	@@ -656,13 +656,8 @@
656	656
657	657	(% class="wikigeneratedid" %)
658	658	This command queries the current speed in microseconds per second.
659		-)))
660	660
661		-|(% colspan="2" %)(((
662		-====== __Timed move__ ======
663		-)))
664		-|(% style="width:30px" %) |(((
665		-Timed Move (**T**)
	610	+====== __Timed move (**T**) modifier__ ======
666	666
667	667	Example: #5D15000T2500<cr>
668	668
...	...	@@ -669,229 +669,61 @@
669	669	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.
670	670
671	671	**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
672		-)))
673	673
	618	+====== ======
	619	+
674	674	== Telemetry ==
675	675
676		-|(% colspan="2" %)(((
677		-====== __Temperature PCB__ ======
678		-)))
679		-|(% style="width:30px" %) |(((
680		-Query Temp PCB (**QT**)
	622	+====== __Query PCB Temperature (**QT**)__ ======
681	681
682	682	Ex: #5QT<cr> might return *5QT564<cr>
683	683
684	684	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.
685		-)))
686	686
687		-|(% colspan="2" %)(((
688		-====== __Current__ ======
689		-)))
690		-|(% style="width:30px" %) |(((
691		-(% class="wikigeneratedid" %)
692		-Query Current (**QC**)
	628	+====== __Query Temperature Probe (**QTP**)__ ======
693	693
694		-(% 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	+
695	695	Ex: #5QC<cr> might return *5QC140<cr>
696	696
697	697	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.
698		-)))
699	699
700		-|(% colspan="2" %)(((
701		-====== __Model String__ ======
702		-)))
703		-|(% style="width:30px" %) |(((
704		-(% class="wikigeneratedid" %)
705		-Query Model String (**QMS**)
	644	+====== __Query Model String (**QMS**)__ ======
706	706
707		-(% class="wikigeneratedid" id="HEx:235QMS3Ccr3Emightreturn2A5QMSLSS-HS13Ccr3E" %)
708	708	Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
709	709
710	710	This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
711		-)))
712	712
713		-|(% colspan="2" %)(((
714		-====== __Firmware__ ======
715		-)))
716		-|(% style="width:30px" %) |(((
717		-Query Firmware (**QF**)
	650	+====== __Query Firmware (**QF**)__ ======
718	718
719	719	Ex: #5QF<cr> might return *5QF368<cr>
720	720
721	721	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
722		-)))
723	723
724		-|(% colspan="2" %)(((
725		-====== __Serial Number__ ======
726		-)))
727		-|(% style="width:30px" %) |(((
728		-(% class="wikigeneratedid" %)
729		-Query Serial Number (**QN**)
	656	+====== __Query Serial Number (**QN**)__ ======
730	730
731		-(% class="wikigeneratedid" id="HEx:235QN3Ccr3Emightreturn2A5QN123456783Ccr3E" %)
732	732	Ex: #5QN<cr> might return *5QN12345678<cr>
733	733
734	734	The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
735		-)))
736	736
737		-|(% colspan="2" %)(((
738		-====== __Temperature Probe__ ======
739		-)))
740		-|(% style="width:30px" %) |(((
741		-Query Temp motor Probe (**QTP**)
	662	+====== __Query IMU Linear (**QIX** **QIY** **QIZ**)__ ======
742	742
743		-Ex: #5QTP<cr> might return *5QTP564<cr>
744		-
745		-The units are in tenths of degrees Celcius, so in the example above, the servo's motor 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.
746		-)))
747		-
748		-|(% colspan="2" %)(((
749		-====== __Temperature MCU__ ======
750		-)))
751		-|(% style="width:30px" %) |(((
752		-Query Temp MCU (**QTM**)
753		-
754		-Ex: #5QTM<cr> might return *5QTM564<cr>
755		-
756		-The units are in tenths of degrees Celcius, so in the example above, the servo's microcontroller 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.
757		-)))
758		-
759		-|(% colspan="2" %)(((
760		-====== __Temp Controller Error__ ======
761		-)))
762		-|(% style="width:30px" %) |(((
763		-(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
764		-Query Temp Controller Error (**QTCE**)
765		-
766		-
767		-
768		-(% class="wikigeneratedid" %)
769		-Returns the value of the "ot" bit of the motor driver's DRV_STATUS register (addr: 0x6F). If the response is 1, the motor driver has detected overtemperature (over 150℃).
770		-)))
771		-
772		-|(% colspan="2" %)(((
773		-====== __Temp Controller Warning__ ======
774		-)))
775		-|(% style="width:30px" %) |(((
776		-(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
777		-Query Temp Controller Warning (**QTCW**)
778		-
779		-
780		-(% class="wikigeneratedid" %)
781		-Returns the value of the "otpw" bit of the motor driver's DRV_STATUS register (addr: 0x6F). If the response is 1, the motor driver has detected overtemperature pre-warning (over 120℃).
782		-)))
783		-
784		-|(% colspan="2" %)(((
785		-====== __Error Flag__ ======
786		-)))
787		-|(% style="width:30px" %) |(((
788		-Query Error Flag (**QEF**)
789		-
790		-Ex: #5QEF<cr> might return *5QEF64<cr>
791		-
792		-
793		-|(% style="width:25px" %) |***Value returned (QEF)**|**Status**|**Detailed description**
794		-| |ex: *5QEF<cr>|LSSP_ERROR_BITS_PCBOverTemerature|
795		-| |ex: *5QEF<cr>|LSSP_ERROR_BITS_MCUOverTemerature|
796		-| |ex: *5QEF<cr>|LSSP_ERROR_BITS_MotorProbeOverTemerature|
797		-| |ex: *5QEF<cr>|LSSP_ERROR_BITS_MotorDriverOverTemerature|
798		-| |ex: *5QEF<cr>|LSSP_ERROR_BITS_Blocked|
799		-| |ex: *5QEF<cr>|LSSP_ERROR_BITS_ExceedSpeedLimit|
800		-| |ex: *5QEF<cr>|LSSP_ERROR_BITS_ExceedAccelLimit|
801		-| |ex: *5QEF<cr>|LSSP_ERROR_BITS_ExceedDecelLimit|
802		-| |ex: *5QEF<cr>|LSSP_ERROR_BITS_CurrentPositionOutOfRangePlus|
803		-| |ex: *5QEF<cr>|LSSP_ERROR_BITS_CurrentPositionOutOfRangeMinus|
804		-| |ex: *5QEF<cr>|LSSP_ERROR_BITS_EEPROMHeaderDataError|
805		-| |ex: *5QEF<cr>|LSSP_ERROR_BITS_EEPROMCheckSumError|
806		-| |ex: *5QEF<cr>|LSSP_ERROR_BITS_EEPROMMapVersionIsNotSupported|
807		-)))
808		-
809		-|(% colspan="2" %)(((
810		-====== __IMU Linear__ ======
811		-)))
812		-|(% style="width:30px" %) |(((
813		-(% class="wikigeneratedid" %)
814		-Query IMU Linear (**QIX QIY QIZ**)
815		-
816		-(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
817	817	Ex: #6QIX<cr> might return *6QIX30<cr>
818	818
819	819	This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
820		-)))
821	821
822		-|(% colspan="2" %)(((
823		-====== __IMU Angular__ ======
824		-)))
825		-|(% style="width:30px" %) |(((
826		-(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
827		-Query IMU Angular (**QIA QIB QIG**)
	668	+====== __Query IMU Angular (**QIA** **QIB** **QIC**)__ ======
828	828
829		-(% class="wikigeneratedid" %)
830	830	Ex: #6QIB<cr> might return *6QIB44<cr>
831	831
832	832	This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
833		-)))
834	834
835		-== RGB LED ==
836		-
837		-|(% colspan="2" %)(((
838		-====== __LED Color__ ======
839		-)))
840		-|(% style="width:30px" %) |(((
841		-(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
842		-The user defined LED color can be changed permanently (CLED) or until reboot (LED).
843		-
844		-(% class="wikigeneratedid" %)
845		-Ex: #5LED5<cr>, will set the user LED color to Cyan until reboot of the actuator.
846		-
847		-(% class="wikigeneratedid" %)
848		-Ex: #5CLED3<cr>, will set the user LED color to Blue and will be that way ever after rebooting the actuator.
849		-
850		-
851		-(% style="width:200px" %)
852		-|(% colspan="2" style="text-align:center; vertical-align:middle; width:35px" %)**Color vs Value**
853		-|(% style="text-align:center; vertical-align:middle; width:35px" %)[[image:[email protected]]]|0 = Off / Black
854		-|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]]]|1 = Red
855		-|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]]]|2 = Green
856		-|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]]]|3 = Blue
857		-|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]]]|4 = Yellow
858		-|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-Black.png"]]|5 = Cyan
859		-|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]]]|6 = Magenta
860		-|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]]]|7 = White
861		-)))
862		-
863		-|(% colspan="2" %)(((
864		-====== __LED Blinking__ ======
865		-)))
866		-|(% style="width:30px" %) |(((
867		-(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
868		-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:
869		-
870		-(% style="width:200px" %)
871		-|**Blink While:**|(% style="text-align:center; width:35px" %)**#**
872		-|No blinking|(% style="text-align:center" %)0
873		-|Limp|(% style="text-align:center" %)1
874		-|Holding|(% style="text-align:center" %)2
875		-|Accelerating|(% style="text-align:center" %)4
876		-|Decelerating|(% style="text-align:center" %)8
877		-|Free|(% style="text-align:center" %)16
878		-|Travelling|(% style="text-align:center" %)32
879		-|Always blink|(% style="text-align:center" %)63
880		-
881		-(% class="wikigeneratedid" %)
882		-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:Ex: #5CLB0 to turn off all blinking (LED always solid)Ex: #5CLB1 only blink when limp (1)Ex: #5CLB2 only blink when holding (2)Ex: #5CLB12 only blink when accel or decel (accel 4 + decel 8 = 12)Ex: #5CLB48 only blink when free or travel (free 16 + travel 32 = 48)Ex: #5CLB63 blink in all status (1 + 2 + 4 + 8 + 16 + 32)RESETTING the servo is needed.
883		-)))
884		-
885		-|(% colspan="2" %)(((
886		-====== __LED Indicator__ ======
887		-)))
888		-|(% style="width:30px" %) |(((
889		-(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
890		-The LED Indicator will reflect the blinking pattern from the LED at a given time.
891		-
892		-(% class="wikigeneratedid" %)
893		-Ex: #5QLI<cr> might return *5QLI4<cr>, and the actuator would be blinking 3 times as an Exceed speed limits error.
894		-
895		-(% class="wikigeneratedid" %)
896		-[[image:QLI-Info.png]]
897		-)))
	674	+

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