Wiki source code of LSS-P - Communication Protocol

Version 30.1 by Coleman Benson on 2023/07/25 15:19

6.1	1	{{warningBox warningText="More information coming soon"/}}
	2
9.1	3
1.2	4	(% class="wikigeneratedid" id="HTableofContents" %)
	5	Page Contents
	6
	7	{{toc depth="3"/}}
	8
	9	= Serial Protocol =
	10
20.1	11	The Lynxmotion Smart Servo (LSS) PRO serial protocol was created in order to be as simple and straightforward as possible from a user perspective ("human readable format"), while at the same time staying compact and robust yet highly versatile. The protocol was based on Lynxmotion's Smart Servo (LSS) protocol, which itself was based on the SSC-32 & SSC-32U RC servo controllers. The LSS PRO series and normal LSS share many of the same commands, but because of higher angular precision, slightly different operation and different features, the two protocols do not fully overlap.
1.2	12
	13	In order to be able to control each servo individually with commands, the first step should be to assign a different ID number to each servo (see details on the Configure ID, or "CID" command [[here>>doc:\|\|anchor="HIdentificationNumber28ID29"]]). Only the servo(s) which have been configured to a specific ID will act on a command sent to that ID. There is currently no CRC or checksum implemented as part of the protocol.
9.1	14
	15	= Action Commands =
	16
23.1	17	Action commands tell the servo, within that session, to do something (i.e. "take an action"). The types of action commands which can be sent are described below, and they cannot be combined with other commands such as queries or configurations. Only one action command can be sent at a time. Action commands are session-specific, therefore once a servo is power cycled, it will not have any "memory" of previous actions or [[virtual positions>>\|\|anchor="HVirtualAngularPosition"]] (described below). Action commands are sent serially to the servo and must be sent in the following format:
9.1	18
11.1	19	1. Start with a number sign # (Unicode Character: U+0023)
	20	1. Servo ID number as an integer (assigning an ID described below)
	21	1. Action command (one or more letters, no whitespace, capital or lowercase from the list below)
	22	1. Action value in the correct units with no decimal
	23	1. End with a carriage return \r or <cr> Unicode Character (U+000D)
9.1	24
11.1	25	(((
20.1	26	Ex: #5D130000<cr>
9.1	27
20.1	28	This sends a serial command to all servo's RX pins which are connected to the bus and only servo(s) with ID #5 will move to a position (13000 in hundredths of degrees) of 130.00 degrees. Any servo on the bus which does not have ID 5 will take no action when receiving this command.
10.1	29
	30	== Modifiers ==
	31
23.1	32	{{html clean="false" wiki="true"}}
10.1	33	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	34	Modifiers can only be used with certain action commands. The format to include a modifier is:<div class="wikimodel-emptyline"></div>
	35
	36	1. Start with a number sign # (Unicode Character: U+0023)
	37	1. Servo ID number as an integer
	38	1. Action command (one to three letters, no spaces, capital or lowercase from a subset of action commands below)
	39	1. Action value in the correct units with no decimal
	40	1. Modifier command (one or two letters from the list of modifiers below)
	41	1. Modifier value in the correct units with no decimal
	42	1. End with a carriage return \r or <cr> Unicode Character (U+000D)
	43
20.1	44	Ex: #5D13000T1500<cr><div class="wikimodel-emptyline"></div>
10.1	45
20.1	46	This results in the servo with ID #5 rotating to a position (1800 in tenths of degrees) of 130.00 degrees in a time ("T") of 1500 milliseconds (1.5 seconds).<div class="wikimodel-emptyline"></div>
10.1	47	<div class="wikimodel-emptyline"></div></div></div>
12.1	48
23.1	49	<h2>Queries</h2>
12.1	50	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
24.1	51	Query commands request information from the servo. Query commands are also similar to action and configuration commands and must use the following format:<div class="wikimodel-emptyline"></div>
12.1	52
	53	1. Start with a number sign # (Unicode Character: U+0023)
	54	1. Servo ID number as an integer
	55	1. Query command (one to four letters, no spaces, capital or lower case)
	56	1. End with a carriage return \r or <cr> Unicode Character (U+000D)<div class="wikimodel-emptyline"></div>
	57
20.1	58	Ex: #5QD<cr> Query the position in (hundredths of) degrees for servo with ID #5<div class="wikimodel-emptyline"></div>
12.1	59
20.1	60	The query will return a serial string (almost instantaneously) via the servo's Tx in the following format:
12.1	61
	62	1. Start with an asterisk * (Unicode Character: U+0023)
	63	1. Servo ID number as an integer
	64	1. Query command (one to four letters, no spaces, capital letters)
	65	1. The reported value in the units described, no decimals.
	66	1. End with a carriage return \r or <cr> Unicode Character (U+000D)<div class="wikimodel-emptyline"></div>
	67
	68	There is currently no option to control how fast a servo replies after it has received a query command, therefore when sending a query command to the bus, the controller should be prepared to immediately "listen" for and parse the reply. Sending multiple queries to multiple servos on a bus in fast succession may result in replies overlapping and giving incorrect or corrupt data. As such, the controller should receive a reply before sending a new query command. A reply to the query sent above might be:<div class="wikimodel-emptyline"></div>
	69
20.1	70	Ex: *5QD13000<cr><div class="wikimodel-emptyline"></div>
12.1	71
20.1	72	This indicates that servo #5 is currently at 130.00 degrees (13000 tenths of degrees).
12.1	73	<div class="wikimodel-emptyline"></div></div></div>
	74
24.1	75	<h2>Configurations</h2>
	76
12.1	77	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	78	Configuration commands and corresponding values affect a servo's defaults which are written to and read from the servo's EEPROM.<div class="wikimodel-emptyline"></div>
	79
24.1	80	These configurations are retained in memory after the servo is reset or power is cut / lost. Some configuration commands affect the session, while others do not. In the Command table below, the column "Session" denotes if the configuration command affects the session. Not all action commands have a corresponding configuration command and vice versa. Configuration commands are not cumulative; this means that if two of the same configuration commands are sent, one after the next, only the last configuration is used and stored.<div class="wikimodel-emptyline"></div>
12.1	81
	82	The format to send a configuration command is identical to that of an action command:<div class="wikimodel-emptyline"></div>
	83
	84	1. Start with a number sign # (Unicode Character: U+0023)
	85	1. Servo ID number as an integer
	86	1. Configuration command (two to four letters, no spaces, capital or lower case)
	87	1. Configuration value in the correct units with no decimal
	88	1. End with a carriage return \r or <cr> Unicode Character (U+000D)<div class="wikimodel-emptyline"></div>
	89
24.1	90	Ex: #5CO-500<cr><div class="wikimodel-emptyline"></div>
12.1	91
24.1	92	This configures an absolute origin offset ("CO") with respect to factory origin of servo with ID #5 and changes the offset for that session to -5.00 degrees (500 hundredths of degrees). Once the servo is powered off and on, zeroing the servo will cause it to move to -5.00 degrees with respect to the factory origin and report its position as 0 degrees. Configuration commands can be undone / reset either by sending the servo's default value for that configuration, or by doing a factory reset that clears all configurations (through the button menu or with DEFAULT command described below).<div class="wikimodel-emptyline"></div>
12.1	93
	94	Session vs Configuration Query<div class="wikimodel-emptyline"></div>
	95
	96	By default, the query command returns the session's value. Should no action commands have been sent to change the session value, it will return the value saved in EEPROM which will either be the servo's default, or modified with a configuration command. In order to query the value stored in EEPROM (configuration), add a '1' to the query command:<div class="wikimodel-emptyline"></div>
	97
25.1	98	Ex: #5CSR10<cr> immediately sets the maximum speed for servo #5 to 10rpm (explained below) and changes the value in memory.<div class="wikimodel-emptyline"></div>
12.1	99
	100	After RESET, a command of #5SR4<cr> sets the session's speed to 4rpm, but does not change the configuration value in memory. Therefore:<div class="wikimodel-emptyline"></div>
	101
	102	#5QSR<cr> or #5QSR0<cr> would return *5QSR4<cr> which represents the value for that session, whereas<div class="wikimodel-emptyline"></div>
	103
25.1	104	#5QSR1<cr> would return *5QSR10<cr> which represents the value in EEPROM
12.1	105	<div class="wikimodel-emptyline"></div></div></div>
	106
	107	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
25.1	108	The ability to store a "virtual angular position" is a feature which allows for rotation beyond 360 degrees, permitting multiple rotations of the output horn, moving the center position and more. The "absolute position" would be the angle of the output shaft with respect to a 360.00 degree circle and can be obtained by taking the modulus (with respect to 360 degrees) of the value. For example if the virtual position is reported as 153350 (or 1533.50 degrees), taking the modulus would give 93.5 degrees (36000 * 4 + 9350 = 153350) as the absolute position (assuming no origin offset).<div class="wikimodel-emptyline"></div>
12.1	109
	110	[[image:LSS-servo-positions.jpg]]<div class="wikimodel-emptyline"></div>
	111
	112	In this example, the gyre direction (explained below, a.k.a. "rotation direction") is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees. The following command is sent:<div class="wikimodel-emptyline"></div>
	113
25.1	114	#1D-3000<cr> This causes the servo to move to -30.00 degrees (green arrow)<div class="wikimodel-emptyline"></div>
12.1	115
25.1	116	#1D21000<cr> This second position command is sent to the servo, which moves it to 210.00 degrees (orange arrow)<div class="wikimodel-emptyline"></div>
12.1	117
25.1	118	#1D-42000<cr> This next command rotates the servo counterclockwise to a position of -420.00 degrees (red arrow), which means one full rotation of 360 degrees plus 60.00 degrees (420.00 - 360.00), with a virtual position of -420.0 degrees.<div class="wikimodel-emptyline"></div>
12.1	119
25.1	120	Although the final physical position would be the same as if the servo were commanded to move to -60.00 degrees, the servo is in fact at -420.00 degrees.<div class="wikimodel-emptyline"></div>
12.1	121
25.1	122	#1D48000<cr> This new command is sent which would then cause the servo to rotate from -420.00 degrees to 480.00 degrees (blue arrow), which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations.<div class="wikimodel-emptyline"></div>
12.1	123
25.1	124	#1D33000<cr> would cause the servo to rotate from 480.0 degrees to 330.00 degrees (yellow arrow).<div class="wikimodel-emptyline"></div>
12.1	125
25.1	126	If the servo loses power or is power cycled, it also loses the virtual position associated with that session. For example, if the virtual position was 480.00 degrees before power is cycled, upon power up the servo's position will be read as +120.00 degrees from zero (assuming center position has not been modified). The virtual position range at power-up is [-180.00°, 180.00°].
12.1	127	<div class="wikimodel-emptyline"></div></div></div>
	128
10.1	129	{{/html}}
11.1	130	)))
13.1	131
	132	= Command List =
	133
	134	Latest firmware version currently : v0.0.780
	135
22.1	136	\|(% colspan="8" style="color:orange; font-size:18px" %)[[Communication Setup>>\|\|anchor="HCommunicationSetup"]]
	137	\|(% 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
	138	\| \|[[Reset>>\|\|anchor="HReset"]]\|(% style="text-align:center" %)RESET\|(% style="text-align:center" %) \|(% style="text-align:center" %) \| \| \|Soft reset. See command for details.
	139	\| \|[[Default Configuration>>\|\|anchor="HDefault26confirm"]]\|(% style="text-align:center" %)DEFAULT\|(% style="text-align:center" %) \|(% style="text-align:center" %) \| \| \|Revert to firmware default values. See command for details
	140	\| \|[[Firmware Update Mode>>\|\|anchor="HUpdate26confirm"]]\|(% style="text-align:center" %)UPDATE\|(% style="text-align:center" %) \|(% style="text-align:center" %) \| \| \|Update firmware. See command for details.
	141	\| \|[[Confirm Changes>>\|\|anchor="HConfirm"]]\|(% style="text-align:center" %)CONFIRM\|(% style="text-align:center" %) \|(% style="text-align:center" %) \| \| \|
	142	\| \|[[Enable CAN Terminal>>\|\|anchor="HConfigureRCMode28CRC29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QET\|(% style="text-align:center" %)CET\| \|0 or 1\|0: Disable 1: Enable
	143	\| \|[[ID Number >>\|\|anchor="HIdentificationNumber28ID29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QID\|(% style="text-align:center" %)CID\|0\| \|Reset required after change. ID 254 is a "broadcast" which all servos respond to.
	144	\| \|[[USB Connection State>>\|\|anchor="HBaudRate"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QUC\|(% style="text-align:center" %) \| \|0 or 1\|0: Not connected 1: Connected
	145	\| \|Query Firmware Release\|(% style="text-align:center" %) \|(% style="text-align:center" %)QFR\|(% style="text-align:center" %) \| \| \|
13.1	146
22.1	147	\|(% colspan="8" style="color:orange; font-size:18px" %)[[Motion>>\|\|anchor="HMotion"]]
	148	\|(% 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
	149	\| \|[[Position in Degrees>>\|\|anchor="HPositioninDegrees28D29"]]\|(% style="text-align:center" %)D\|(% style="text-align:center" %)QD/QDT\|(% style="text-align:center" %) \| \|1/100°\|
	150	\| \|[[Move in Degrees (relative)>>\|\|anchor="H28Relative29MoveinDegrees28MD29"]]\|(% style="text-align:center" %)MD\|(% style="text-align:center" %) \|(% style="text-align:center" %) \| \|1/100°\|
	151	\| \|[[Wheel mode in Degrees>>\|\|anchor="HWheelModeinDegrees28WD29"]]\|(% style="text-align:center" %)WD\|(% style="text-align:center" %)QWD/QVT\|(% style="text-align:center" %) \| \|°/s\|A.K.A. "Speed mode" or "Continuous rotation"
	152	\| \|[[Wheel mode in RPM>>\|\|anchor="HWheelModeinRPM28WR29"]]\|(% style="text-align:center" %)WR\|(% style="text-align:center" %)QWR\|(% style="text-align:center" %) \| \|RPM\|A.K.A. "Speed mode" or "Continuous rotation"
	153	\| \|[[Query Motion Status>>\|\|anchor="HQueryStatus28Q29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)Q\|(% style="text-align:center" %) \| \|1 to 8 integer\|See command description for details
	154	\| \|[[Limp>>\|\|anchor="HLimp28L29"]]\|(% style="text-align:center" %)L\|(% style="text-align:center" %) \|(% style="text-align:center" %) \| \| \|Removes power from stepper coils
	155	\| \|[[Halt & Hold>>\|\|anchor="HHalt26Hold28H29"]]\|(% style="text-align:center" %)H\|(% style="text-align:center" %) \|(% style="text-align:center" %) \| \| \|Stops (halts) motion profile and holds last position
13.1	156
22.1	157	\|(% colspan="8" style="color:orange; font-size:18px" %)[[Motion Setup>>\|\|anchor="HMotionSetup"]]
	158	\|(% style="width:25px" %) \|(% style="width:200px" %)Description\|(% style="text-align:center; width:100px" %)Action\|(% style="text-align:center; width:75px" %)Query\|(% style="text-align:center; width:75px" %)Config\|(% style="width:100px" %)Default\|(% style="width:170px" %)Unit\|Notes
	159	\| \|[[Enable Motion Profile>>\|\|anchor="HEnableMotionProfile28EM29"]]\|(% style="text-align:center" %)EM\|(% style="text-align:center" %)QEM\|(% style="text-align:center" %)CEM\|1\| \|EM1: trapezoidal motion profile / EM0: no motion profile
	160	\| \|[[Filter Position Count>>\|\|anchor="HFilterPositionCount28FPC29"]]\|(% style="text-align:center" %)FPC\|(% style="text-align:center" %)QFPC\|(% style="text-align:center" %)CFPC\|5\| \|Affects motion only when motion profile is disabled (EM0)
	161	\| \|[[Origin Offset>>\|\|anchor="HOriginOffset28O29"]]\|(% style="text-align:center" %)O\|(% style="text-align:center" %)QO\|(% style="text-align:center" %)CO\|0\|1/10°\|
	162	\| \|[[Angular Range>>\|\|anchor="HAngularRange28AR29"]]\|(% style="text-align:center" %)AR\|(% style="text-align:center" %)QAR\|(% style="text-align:center" %)CAR\|1800\|1/10°\|
	163	\| \|[[Angular Stiffness>>\|\|anchor="HAngularStiffness28AS29"]]\|(% style="text-align:center" %)AS\|(% style="text-align:center" %)QAS\|(% style="text-align:center" %)CAS\|0\|-4 to +4 integer\|Suggested values are between 0 to +4
	164	\| \|[[Angular Holding Stiffness>>\|\|anchor="HAngularHoldingStiffness28AH29"]]\|(% style="text-align:center" %)AH\|(% style="text-align:center" %)QAH\|(% style="text-align:center" %)CAH\|4\|-10 to +10 integer\|
	165	\| \|[[Angular Acceleration>>\|\|anchor="HAngularAcceleration28AA29"]]\|(% style="text-align:center" %)AA\|(% style="text-align:center" %)QAA\|(% style="text-align:center" %)CAA\|100\|°/s^^2^^\|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
	166	\| \|[[Angular Deceleration>>\|\|anchor="HAngularDeceleration28AD29"]]\|(% style="text-align:center" %)AD\|(% style="text-align:center" %)QAD\|(% style="text-align:center" %)CAD\|100\|°/s^^2^^\|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
	167	\| \|[[Gyre Direction>>\|\|anchor="HGyreDirection28G29"]]\|(% style="text-align:center" %)G\|(% style="text-align:center" %)QG\|(% style="text-align:center" %)CG\|1\| \|Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)
	168	\| \|[[First Position (Deg)>>\|\|anchor="HFirstPosition"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QFD\|(% style="text-align:center" %)CFD\|No value\|1/10°\|Reset required after change.
	169	\| \|[[Maximum Motor Duty>>\|\|anchor="HMaximumMotorDuty28MMD29"]]\|(% style="text-align:center" %)MMD\|(% style="text-align:center" %)QMMD\|(% style="text-align:center" %) \|1023\|255 to 1023 integer\|
	170	\| \|[[Maximum Speed in Degrees>>\|\|anchor="HMaximumSpeedinDegrees28SD29"]]\|(% style="text-align:center" %)SD\|(% style="text-align:center" %)QSD\|(% style="text-align:center" %)CSD\|Max\|0.1°/s\|SD overwrites SR / CSD overwrites CSR and vice-versa
	171	\| \|[[Maximum Speed in RPM>>\|\|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
13.1	172
22.1	173	\|(% colspan="8" style="color:orange; font-size:18px" %)[[Modifiers>>\|\|anchor="HModifiers"]]
	174	\|(% 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
	175	\| \|[[Speed in Degrees>>\|\|anchor="HSpeed28S2CSD29modifier"]]\|(% style="text-align:center" %)SD\|(% style="text-align:center" %) \|(% style="text-align:center" %) \| \|1°/s\|For D and MD action commands
	176	\| \|[[Timed move>>\|\|anchor="HTimedmove28T29modifier"]]\|(% style="text-align:center" %)T\|(% style="text-align:center" %) \|(% style="text-align:center" %) \| \|ms\|Time associated with D, MD commands
13.1	177
22.1	178	\|(% colspan="8" style="color:orange; font-size:18px" %)[[Telemetry>>\|\|anchor="HTelemetry"]]
	179	\|(% style="width:25px" %) \|(% style="width:200px" %)Description\|(% style="text-align:center; width:100px" %)Action\|(% style="text-align:center; width:75px" %)Query\|(% style="text-align:center; width:75px" %)Config\|(% style="width:100px" %)Default\|(% style="width:170px" %)Unit\|Notes
	180	\| \|[[Query PCB Temperature>>\|\|anchor="HQueryTemperature28QT29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QT\|(% style="text-align:center" %) \| \|°C\|
	181	\| \|[[Query Current>>\|\|anchor="HQueryCurrent28QC29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QC\|(% style="text-align:center" %) \| \|mA\|Nominal RMS value to stepper motor driver IC.
	182	\| \|[[Query Model String>>\|\|anchor="HQueryModelString28QMS29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QMS\|(% style="text-align:center" %) \| \| \|Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)
	183	\| \|[[Query Firmware Version>>\|\|anchor="HQueryFirmware28QF29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QF\|(% style="text-align:center" %) \| \| \|
	184	\| \|[[Query Serial Number>>\|\|anchor="HQuerySerialNumber28QN29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QN\|(% style="text-align:center" %) \| \| \|Returns the unique serial number for the servo
	185	\| \|Query Temperature Probe\|(% style="text-align:center" %) \|(% style="text-align:center" %)QTP\|(% style="text-align:center" %) \| \| \|Queries temperature probe fixed to stepper motor
	186	\| \|Query Temp of Controller\|(% style="text-align:center" %) \|(% style="text-align:center" %)QTCW, QTCE\|(% style="text-align:center" %) \| \| \|(((
	187	QTCW: Queries the temperature status of the motor controller (pre-warning)
13.1	188
22.1	189	QTCE: Queries the temperature status of the motor controller (over-temp error)
	190	)))
	191	\| \|Query Current Speed \|(% style="text-align:center" %) \|(% style="text-align:center" %)QCS\|(% style="text-align:center" %) \| \| \|Queries the motor controller's calculated speed
	192	\| \|Query IMU Linear X\|(% style="text-align:center" %) \|(% style="text-align:center" %)QIX\|(% style="text-align:center" %) \| \|mm/s^2\|
	193	\| \|Query IMU Linear Y\|(% style="text-align:center" %) \|(% style="text-align:center" %)QIY\|(% style="text-align:center" %) \| \|mm/s^2\|
	194	\| \|Query IMU Linear Z\|(% style="text-align:center" %) \|(% style="text-align:center" %)QIZ\|(% style="text-align:center" %) \| \|mm/s^2\|
	195	\| \|Query IMU Angular Accel α \|(% style="text-align:center" %) \|(% style="text-align:center" %)QIA\|(% style="text-align:center" %) \| \|°/s^2\|Query IMU Angular Accel α (Alpha)
	196	\| \|Query IMU Angular Accel β\|(% style="text-align:center" %) \|(% style="text-align:center" %)QIB\|(% style="text-align:center" %) \| \|°/s^2\|Query IMU Angular Accel β (Beta)
	197	\| \|Query IMU Angular Accel γ\|(% style="text-align:center" %) \|(% style="text-align:center" %)QIC / QIG\|(% style="text-align:center" %) \| \|°/s^2\|Query IMU Angular Accel γ (Gamma)
19.1	198
22.1	199	\|(% colspan="8" style="color:orange; font-size:18px" %)[[RGB LED>>\|\|anchor="HRGBLED"]]
	200	\|(% style="width:25px" %) \|(% style="width:200px" %)Description\|(% style="text-align:center; width:100px" %)Action\|(% style="text-align:center; width:75px" %)Query\|(% style="text-align:center; width:75px" %)Config\|(% style="width:100px" %)Default\|(% style="width:170px" %)Unit\|Notes
	201	\| \|[[LED Color>>\|\|anchor="HLEDColor28LED29"]]\|(% style="text-align:center" %)LED\|(% style="text-align:center" %)QLED\|(% style="text-align:center" %)CLED\| \|0 to 7 integer\|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White
	202	\| \|[[Configure LED Blinking>>\|\|anchor="HConfigureLEDBlinking28CLB29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %) \|(% style="text-align:center" %)CLB\| \|0 to 63 integer\|Reset required after change. See command for details.
	203
19.1	204	= (% style="color:inherit; font-family:inherit" %)Details(%%) =
	205
	206	== (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) ==
	207
	208
27.1	209	====== ======
19.1	210
	211	== Motion ==
	212
	213	====== __Position in Degrees (D)__ ======
	214
	215
28.1	216	Example: #5D1456<cr>
19.1	217
28.1	218	This moves the servo to an angle of 145.6 degrees, where the center (0) position is centered. Negative values (ex. -176 representing -17.6 degrees) could also be used. A full circle would be from -1800 to 1800 degrees. A value of 2700 would be the same angle (absolute position) as -900, except the servo would move in a different direction.
19.1	219
28.1	220	Larger values are permitted and allow for multi-turn functionality using the concept of virtual position (explained above).
19.1	221
28.1	222	Query Position in Degrees (QD)
19.1	223
28.1	224	Example: #5QD<cr> might return *5QD132<cr>
19.1	225
28.1	226	This means the servo is located at 13.2 degrees.
19.1	227
28.1	228	Query Target Position in Degrees (QDT)
19.1	229
28.1	230	Ex: #5QDT<cr> might return *5QDT6783<cr>
	231
19.1	232	The query target position command returns the target virtual position during and after an action which results in a rotation of the servo horn. In the example above, the servo is rotating to a virtual position of 678.3 degrees. Should the servo not have a target position or be in wheel mode, it will respond with the last target position used.
	233
	234	====== __(Relative) Move in Degrees (MD)__ ======
	235
	236
28.1	237	Example: #5MD123<cr>
	238
19.1	239	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.
	240
	241	====== __Wheel Mode in Degrees (WD)__ ======
	242
	243
28.1	244	Ex: #5WD90<cr>
19.1	245
28.1	246	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).
19.1	247
28.1	248	Query Wheel Mode in Degrees (QWD)
19.1	249
28.1	250	Ex: #5QWD<cr> might return *5QWD90<cr>
	251
19.1	252	The servo replies with the angular speed in degrees per second. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
	253
	254	====== __Wheel Mode in RPM (WR)__ ======
	255
	256
28.1	257	Ex: #5WR40<cr>
19.1	258
28.1	259	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).
19.1	260
28.1	261	Query Wheel Mode in RPM (QWR)
19.1	262
28.1	263	Ex: #5QWR<cr> might return *5QWR40<cr>
	264
19.1	265	The servo replies with the angular speed in rpm. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
	266
28.1	267	====== ======
19.1	268
28.1	269	====== __(Relative) Move in Degrees (MD)__ ======
19.1	270
28.1	271	======
	272	Example: #5M1500<cr> ======
19.1	273
28.1	274	(% class="wikigeneratedid" %)
	275	====== 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. ======
19.1	276
28.1	277	====== __Query Status (Q)__ ======
19.1	278
	279
28.1	280	The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
19.1	281
28.1	282	Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
19.1	283
	284	\|(% style="width:25px" %) \|*Value returned (Q)\|Status\|Detailed description
	285	\| \|ex: *5Q0<cr>\|0: Unknown\|LSS is unsure / unknown state
	286	\| \|ex: *5Q1<cr>\|1: Limp\|Motor driving circuit is not powered and horn can be moved freely
	287	\| \|ex: *5Q2<cr>\|2: Free moving\|Servo is rotating in duty motion / free move using the RDM command
	288	\| \|ex: *5Q3<cr>\|3: Accelerating\|Increasing speed from rest (or previous speed) towards travel speed
	289	\| \|ex: *5Q4<cr>\|4: Traveling\|Moving at a stable speed
	290	\| \|ex: *5Q5<cr>\|5: Decelerating\|Decreasing from travel speed towards final position.
	291	\| \|ex: *5Q6<cr>\|6: Holding\|Keeping current position (in EM0 mode, return will nornally be holding)
	292	\| \|ex: *5Q7<cr>\|7: Outside limits\|{More details coming soon}
	293	\| \|ex: *5Q8<cr>\|8: Stuck\|Motor cannot perform request movement at current speed setting
	294	\| \|ex: *5Q9<cr>\|9: Blocked\|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
	295	\| \|ex: *5Q10<cr>\|10: Safe Mode\|(((
	296	A safety limit has been exceeded (temperature, peak current or extended high current draw).
	297
	298	Send a Q1 command to know which limit has been reached (described below).
	299	)))
	300
28.1	301	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.
19.1	302
28.1	303
19.1	304	\|(% style="width:25px" %) \|*Value returned (Q1)\|Status\|Detailed description
	305	\| \|ex: *5Q0<cr>\|No limits have been passed\|Nothing is wrong
	306	\| \|ex: *5Q1<cr>\|Current limit has been passed\|Something cause the current to either spike, or remain too high for too long
	307	\| \|ex: *5Q2<cr>\|Input voltage detected is below or above acceptable range\|Check the voltage of your batteries or power source
	308	\| \|ex: *5Q3<cr>\|Temperature limit has been reached\|The servo is too hot to continue operating safely.
	309
	310	====== __Limp (L)__ ======
	311
	312
28.1	313	Example: #5L<cr>
19.1	314
28.1	315	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>.
	316
19.1	317	====== __Halt & Hold (H)__ ======
	318
	319
28.1	320	Example: #5H<cr>
	321
19.1	322	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.)
	323
	324	== Motion Setup ==
	325
29.1	326	====== __Origin Offset (O)__ ======
19.1	327
	328
29.1	329	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).
19.1	330
29.1	331	[[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"]]
19.1	332
	333
29.1	334	In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
19.1	335
29.1	336	[[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"]]
19.1	337
	338
29.1	339	Origin Offset Query (QO)
19.1	340
29.1	341	Example: #5QO<cr> might return *5QO-13
19.1	342
29.1	343	This allows you to query the angle (in tenths of degrees) of the origin in relation to the factory zero position. In this example, the new origin is at -1.3 degrees from the factory zero.
19.1	344
29.1	345	Configure Origin Offset (CO)
19.1	346
29.1	347	Example: #5CO-24<cr>
19.1	348
	349	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.
	350
	351	====== __Angular Range (AR)__ ======
	352
29.1	353	Example: #5AR1800<cr>
19.1	354
29.1	355	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:
19.1	356
29.1	357	[[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"]]
19.1	358
29.1	359	Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
19.1	360
29.1	361	[[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"]]
19.1	362
	363
29.1	364	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:
19.1	365
29.1	366	[[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"]]
19.1	367
	368
29.1	369	Query Angular Range (QAR)
19.1	370
29.1	371	Example: #5QAR<cr> might return *5AR1800, indicating the total angular range is 180.0 degrees.
19.1	372
29.1	373	Configure Angular Range (CAR)
19.1	374
29.1	375	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.
19.1	376
	377	====== __Angular Acceleration (AA)__ ======
	378
29.1	379	The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
19.1	380
29.1	381	Ex: #5AA30<cr>
19.1	382
29.1	383	This sets the angular acceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).
19.1	384
29.1	385	Query Angular Acceleration (QAA)
19.1	386
29.1	387	Ex: #5QAA<cr> might return *5QAA30<cr>
19.1	388
29.1	389	This returns the servo's angular acceleration in degrees per second squared (°/s^^2^^).
19.1	390
29.1	391	Configure Angular Acceleration (CAA)
19.1	392
29.1	393	Ex: #5CAA30<cr>
19.1	394
	395	This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
	396
	397	====== __Angular Deceleration (AD)__ ======
	398
29.1	399	The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
19.1	400
29.1	401	Ex: #5AD30<cr>
19.1	402
29.1	403	This sets the angular deceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).
19.1	404
29.1	405	Query Angular Deceleration (QAD)
19.1	406
29.1	407	Ex: #5QAD<cr> might return *5QAD30<cr>
19.1	408
29.1	409	This returns the servo's angular deceleration in degrees per second squared (°/s^^2^^).
19.1	410
29.1	411	Configure Angular Deceleration (CAD)
19.1	412
29.1	413	Ex: #5CAD30<cr>
19.1	414
29.1	415	This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
19.1	416
	417	====== __Gyre Direction (G)__ ======
	418
29.1	419	"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.
19.1	420
29.1	421	Ex: #5G-1<cr>
19.1	422
29.1	423	This command will cause servo #5's positions to be inverted, effectively causing the servo to rotate in the opposite direction given the same command. For example in a 2WD robot, servos are often physically installed back to back, therefore setting one of the servos to a negative gyration, the same wheel command (ex WR30) to both servos will cause the robot to move forward or backward rather than rotate.
19.1	424
29.1	425	Query Gyre Direction (QG)Ex: #5QG<cr> might return *5QG-1<cr>
19.1	426
29.1	427	The value returned above means the servo is in a counter-clockwise gyration. Sending a #5WR30 command will rotate the servo in a counter-clockwise gyration at 30 RPM.
19.1	428
29.1	429	Configure Gyre (CG)
19.1	430
29.1	431	Ex: #5CG-1<cr>
19.1	432
	433	This changes the gyre direction as described above and also writes to EEPROM.
	434
	435	====== __First Position__ ======
	436
29.1	437	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>
19.1	438
	439	====== __Maximum Speed in Degrees (SD)__ ======
	440
29.1	441	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:
19.1	442
	443	\|Command sent\|Returned value (1/10 °)
29.1	444	\|ex: #5QSD<cr>\|Session value for maximum speed (set by latest SD/SR command)
	445	\|ex: #5QSD1<cr>\|Configured maximum speed in EEPROM (set by CSD/CSR)
	446	\|ex: #5QSD2<cr>\|Instantaneous speed (same as QWD)
	447	\|ex: #5QSD3<cr>\|Target travel speed
19.1	448
29.1	449	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.
19.1	450
	451	====== __Maximum Speed in RPM (SR)__ ======
	452
29.1	453	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:
19.1	454
	455	\|Command sent\|Returned value (1/10 °)
29.1	456	\|ex: #5QSR<cr>\|Session value for maximum speed (set by latest SD/SR command)
	457	\|ex: #5QSR1<cr>\|Configured maximum speed in EEPROM (set by CSD/CSR)
	458	\|ex: #5QSR2<cr>\|Instantaneous speed (same as QWD)
	459	\|ex: #5QSR3<cr>\|Target travel speed
19.1	460
29.1	461	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.
19.1	462
	463	== Modifiers ==
	464
30.1	465	====== __Speed (SD) modifier__ ======
19.1	466
30.1	467	(% class="wikigeneratedid" id="HTimedmove28T29modifier" %)
	468	Example: #5D0SD180<cr>
19.1	469
30.1	470	(% class="wikigeneratedid" %)
	471	Modifier (SD) is only for a position (D) or relative position (MD) action and determines the speed of the move in tenths of degrees per second. A speed modifier (SD) of 180 would cause the servo to rotate from its current position to the desired absolute or relative position at a speed of 18 degrees per second.
19.1	472
30.1	473	(% class="wikigeneratedid" %)
	474	Query Speed (QS)
19.1	475
30.1	476	(% class="wikigeneratedid" %)
	477	Example: #5QS<cr> might return *5QS300<cr>
19.1	478
30.1	479	(% class="wikigeneratedid" %)
	480	This command queries the current speed in microseconds per second.
19.1	481
30.1	482	(% class="wikigeneratedid" %)
	483	====== __Timed move (T) modifier__ ======
19.1	484
30.1	485	Example: #5D15000T2500<cr>
19.1	486
30.1	487	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.
19.1	488
30.1	489	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
19.1	490
30.1	491	====== ======
19.1	492
	493	== Telemetry ==
	494
	495	====== __Query Voltage (QV)__ ======
	496
	497	{{html wiki="true" clean="false"}}
	498	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	499	Ex: #5QV<cr> might return *5QV11200<cr><div class="wikimodel-emptyline"></div>
	500	The number returned is in milliVolts, so in the case above, servo with ID 5 has an input voltage of 11.2V.<div class="wikimodel-emptyline"></div>
	501	</div></div>
	502	{{/html}}
	503
	504	====== __Query Temperature (QT)__ ======
	505
	506	{{html wiki="true" clean="false"}}
	507	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	508	Ex: #5QT<cr> might return *5QT564<cr><div class="wikimodel-emptyline"></div>
	509	The units are in tenths of degrees Celcius, so in the example above, the servo's internal temperature is 56.4 degrees C. To convert from degrees Celcius to degrees Farenheit, multiply by 1.8 and add 32. Therefore 56.4C = 133.52F.<div class="wikimodel-emptyline"></div>
	510	</div></div>
	511	{{/html}}
	512
	513	====== __Query Current (QC)__ ======
	514
	515	{{html wiki="true" clean="false"}}
	516	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	517	Ex: #5QC<cr> might return *5QC140<cr><div class="wikimodel-emptyline"></div>
	518	The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.<div class="wikimodel-emptyline"></div>
	519	</div></div>
	520	{{/html}}
	521
	522	====== __Query Model String (QMS)__ ======
	523
	524	{{html wiki="true" clean="false"}}
	525	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	526	Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr><div class="wikimodel-emptyline"></div>
	527	This reply means that the servo model is LSS-HS1: a high speed servo, first revision.<div class="wikimodel-emptyline"></div>
	528	</div></div>
	529	{{/html}}
	530
	531	====== __Query Firmware (QF)__ ======
	532
	533	{{html wiki="true" clean="false"}}
	534	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	535	Ex: #5QF<cr> might return *5QF368<cr><div class="wikimodel-emptyline"></div>
	536	The number in the reply represents the firmware version, in this example being 368.<div class="wikimodel-emptyline"></div>
	537	The command #5QF3<cr> can also be sent and the servo will reply with a 3 numbers firmware version, for example, 368.29.14<div class="wikimodel-emptyline"></div>
	538	</div></div>
	539	{{/html}}
	540
	541	====== __Query Serial Number (QN)__ ======
	542
	543	{{html wiki="true" clean="false"}}
	544	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	545	Ex: #5QN<cr> might return *5QN12345678<cr><div class="wikimodel-emptyline"></div>
	546	The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.<div class="wikimodel-emptyline"></div>
	547	</div></div>
	548	{{/html}}
	549
	550	== RGB LED ==
	551
	552	====== __LED Color (LED)__ ======
	553
	554	{{html wiki="true" clean="false"}}
	555	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	556	Ex: #5LED3<cr><div class="wikimodel-emptyline"></div>
	557	This action sets the servo's RGB LED color for that session.The LED can be used for aesthetics, or (based on user code) to provide visual status updates. Using timing can create patterns.<div class="wikimodel-emptyline"></div>
	558	0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;<div class="wikimodel-emptyline"></div>
	559	Query LED Color (QLED)<div class="wikimodel-emptyline"></div>
	560	Ex: #5QLED<cr> might return *5QLED5<cr><div class="wikimodel-emptyline"></div>
	561	This simple query returns the indicated servo's LED color.<div class="wikimodel-emptyline"></div>
	562	Configure LED Color (CLED)<div class="wikimodel-emptyline"></div>
	563	Ex: #5CLED3<cr><div class="wikimodel-emptyline"></div>
	564	Configuring the LED color via the CLED command sets the startup color of the servo after a reset or power cycle. Note that it also changes the session's LED color immediately as well. The command above will configure the servo's LED to a Blue color.<div class="wikimodel-emptyline"></div>
	565	</div></div>
	566	{{/html}}
	567
	568	====== __Configure LED Blinking (CLB)__ ======
	569
	570	{{html wiki="true" clean="false"}}
	571	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
	572	This command allows you to control when the RGB LED will blink the user set color (see RGB LED command for details). This is very useful when visually seeing what the servo is doing. You can turn on or off blinking for various LSS status. The command requires that the servo be RESET. Here is the list and their associated value:<div class="wikimodel-emptyline"></div>
	573
	574	(% style="width:195px" %)
	575	\|(% style="width:134px" %)Blink While:\|(% style="width:58px" %)#
	576	\|(% style="width:134px" %)No blinking\|(% style="width:58px" %)0
	577	\|(% style="width:134px" %)Limp\|(% style="width:58px" %)1
	578	\|(% style="width:134px" %)Holding\|(% style="width:58px" %)2
	579	\|(% style="width:134px" %)Accelerating\|(% style="width:58px" %)4
	580	\|(% style="width:134px" %)Decelerating\|(% style="width:58px" %)8
	581	\|(% style="width:134px" %)Free\|(% style="width:58px" %)16
	582	\|(% style="width:134px" %)Travelling\|(% style="width:58px" %)32
	583	\|(% style="width:134px" %)Always blink\|(% style="width:58px" %)63<div class="wikimodel-emptyline"></div>
	584
	585	To set blinking, use CLB with the value of your choosing. To activate blinking in multiple status, simply add together the values of the corresponding status. See examples below:<div class="wikimodel-emptyline"></div>
	586	Ex: #5CLB0<cr> to turn off all blinking (LED always solid)<div class="wikimodel-emptyline"></div>
	587	Ex: #5CLB1<cr> only blink when limp (1)<div class="wikimodel-emptyline"></div>
	588	Ex: #5CLB2<cr> only blink when holding (2)<div class="wikimodel-emptyline"></div>
	589	Ex: #5CLB12<cr> only blink when accel or decel (accel 4 + decel 8 = 12)<div class="wikimodel-emptyline"></div>
	590	Ex: #5CLB48<cr> only blink when free or travel (free 16 + travel 32 = 48)<div class="wikimodel-emptyline"></div>
	591	Ex: #5CLB63<cr> blink in all status (1 + 2 + 4 + 8 + 16 + 32)<div class="wikimodel-emptyline"></div>
	592	RESETTING the servo is needed.<div class="wikimodel-emptyline"></div>
	593	</div></div>
	594	{{/html}}
	595
	596	== RGB LED ==
	597
	598	The LED can be

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