Wiki source code of LSS-PRO Communication Protocol

Version 79.1 by Eric Nantel on 2024/07/22 14:56

1.2	1	(% class="wikigeneratedid" id="HTableofContents" %)
	2	Page Contents
	3
	4	{{toc depth="3"/}}
	5
	6	= Serial Protocol =
	7
20.1	8	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	9
	10	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	11
	12	= Action Commands =
	13
23.1	14	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	15
11.1	16	1. Start with a number sign # (Unicode Character: U+0023)
	17	1. Servo ID number as an integer (assigning an ID described below)
	18	1. Action command (one or more letters, no whitespace, capital or lowercase from the list below)
	19	1. Action value in the correct units with no decimal
	20	1. End with a carriage return \r or <cr> Unicode Character (U+000D)
9.1	21
11.1	22	(((
20.1	23	Ex: #5D130000<cr>
9.1	24
20.1	25	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	26
	27	== Modifiers ==
	28
35.1	29	Modifiers can only be used with certain action commands. The format to include a modifier is:
10.1	30
35.1	31	1. Start with a number sign # (Unicode Character: U+0023)
10.1	32	1. Servo ID number as an integer
	33	1. Action command (one to three letters, no spaces, capital or lowercase from a subset of action commands below)
	34	1. Action value in the correct units with no decimal
35.1	35	1. Modifier command (one or two letters from the list of modifiers below)
10.1	36	1. Modifier value in the correct units with no decimal
35.1	37	1. End with a carriage return \r or <cr> Unicode Character (U+000D)
10.1	38
35.1	39	Ex: #5D13000T1500<cr>This results in the servo with ID #5 rotating to a position (1800 in tenths of degrees) of 130.00 degrees in a time ("T") of 1500 milliseconds (1.5 seconds).
10.1	40
35.1	41	== Queries ==
12.1	42
35.1	43	Query commands request information from the servo. Query commands are also similar to action and configuration commands and must use the following format:
12.1	44
35.1	45	1. Start with a number sign # (Unicode Character: U+0023)
12.1	46	1. Servo ID number as an integer
	47	1. Query command (one to four letters, no spaces, capital or lower case)
35.1	48	1. End with a carriage return \r or <cr> Unicode Character (U+000D)
12.1	49
35.1	50	Ex: #5QD<cr> Query the position in (hundredths of) degrees for servo with ID #5The query will return a serial string (almost instantaneously) via the servo's Tx in the following format:
12.1	51
	52	1. Start with an asterisk * (Unicode Character: U+0023)
	53	1. Servo ID number as an integer
	54	1. Query command (one to four letters, no spaces, capital letters)
	55	1. The reported value in the units described, no decimals.
35.1	56	1. End with a carriage return \r or <cr> Unicode Character (U+000D)
12.1	57
35.1	58	There is currently no option to control how fast a servo replies after it has received a query command, therefore when sending a query command to the bus, the controller should be prepared to immediately "listen" for and parse the reply. Sending multiple queries to multiple servos on a bus in fast succession may result in replies overlapping and giving incorrect or corrupt data. As such, the controller should receive a reply before sending a new query command. A reply to the query sent above might be:
12.1	59
35.1	60	Ex: *5QD13000<cr>
12.1	61
20.1	62	This indicates that servo #5 is currently at 130.00 degrees (13000 tenths of degrees).
12.1	63
35.1	64	== Configurations ==
24.1	65
35.1	66	Configuration commands and corresponding values affect a servo's defaults which are written to and read from the servo's EEPROM. These configurations are retained in memory after the servo is reset or power is cut / lost. Some configuration commands affect the session, while others do not. In the Command table below, the column "Session" denotes if the configuration command affects the session. Not all action commands have a corresponding configuration command and vice versa. Configuration commands are not cumulative; this means that if two of the same configuration commands are sent, one after the next, only the last configuration is used and stored.
12.1	67
35.1	68	The format to send a configuration command is identical to that of an action command:
12.1	69
35.1	70	1. Start with a number sign # (Unicode Character: U+0023)
12.1	71	1. Servo ID number as an integer
	72	1. Configuration command (two to four letters, no spaces, capital or lower case)
	73	1. Configuration value in the correct units with no decimal
35.1	74	1. End with a carriage return \r or <cr> Unicode Character (U+000D)
12.1	75
35.1	76	Ex: #5CO-500<cr>
12.1	77
35.1	78	This configures an absolute origin offset ("CO") with respect to factory origin of servo with ID #5 and changes the offset for that session to -5.00 degrees (500 hundredths of degrees). Once the servo is powered off and on, zeroing the servo will cause it to move to -5.00 degrees with respect to the factory origin and report its position as 0 degrees. Configuration commands can be undone / reset either by sending the servo's default value for that configuration, or by doing a factory reset that clears all configurations (through the button menu or with DEFAULT command described below).
12.1	79
35.1	80	Session vs Configuration Query
12.1	81
35.1	82	By default, the query command returns the session's value. Should no action commands have been sent to change the session value, it will return the value saved in EEPROM which will either be the servo's default, or modified with a configuration command. In order to query the value stored in EEPROM (configuration), add a '1' to the query command:
12.1	83
35.1	84	Ex: #5CSR10<cr> immediately sets the maximum speed for servo #5 to 10rpm (explained below) and changes the value in memory.
12.1	85
35.1	86	After RESET, a command of #5SR4<cr> sets the session's speed to 4rpm, but does not change the configuration value in memory. Therefore:
12.1	87
35.1	88	#5QSR<cr> or #5QSR0<cr> would return *5QSR4<cr> which represents the value for that session, whereas
12.1	89
35.1	90	#5QSR1<cr> would return *5QSR10<cr> which represents the value in EEPROM
12.1	91
35.1	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).
12.1	93
75.1	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"]]
12.1	95
35.1	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:
12.1	97
35.1	98	#1D-3000<cr> This causes the servo to move to -30.00 degrees (green arrow)
12.1	99
35.1	100	#1D21000<cr> This second position command is sent to the servo, which moves it to 210.00 degrees (orange arrow)
12.1	101
35.1	102	#1D-42000<cr> This next command rotates the servo counterclockwise to a position of -420.00 degrees (red arrow), which means one full rotation of 360 degrees plus 60.00 degrees (420.00 - 360.00), with a virtual position of -420.0 degrees.
12.1	103
35.1	104	Although the final physical position would be the same as if the servo were commanded to move to -60.00 degrees, the servo is in fact at -420.00 degrees.
12.1	105
35.1	106	#1D48000<cr> This new command is sent which would then cause the servo to rotate from -420.00 degrees to 480.00 degrees (blue arrow), which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations.
12.1	107
35.1	108	#1D33000<cr> would cause the servo to rotate from 480.0 degrees to 330.00 degrees (yellow arrow).
12.1	109
25.1	110	If the servo loses power or is power cycled, it also loses the virtual position associated with that session. For example, if the virtual position was 480.00 degrees before power is cycled, upon power up the servo's position will be read as +120.00 degrees from zero (assuming center position has not been modified). The virtual position range at power-up is [-180.00°, 180.00°].
11.1	111	)))
13.1	112
	113	= Command List =
	114
	115	Latest firmware version currently : v0.0.780
	116
22.1	117	\|(% colspan="8" style="color:orange; font-size:18px" %)[[Communication Setup>>\|\|anchor="HCommunicationSetup"]]
	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
76.1	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="HDefault26confirm"]]\|(% 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="HUpdate26confirm"]]\|(% 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="HIDNumber28ID29"]]\|(% 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	\| \|[[Enable CAN Terminal>>doc:\|\|anchor="HEnableCANTerminalResistor28ET29"]]\|(% 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	\| \|[[USB Connection Status>>\|\|anchor="HUSBConnectionStatus28UC29"]]\|(% 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
13.1	126
22.1	127	\|(% colspan="8" style="color:orange; font-size:18px" %)[[Motion>>\|\|anchor="HMotion"]]
	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
76.1	129	\| \|[[Position in Degrees>>\|\|anchor="HPositioninDegrees28D29"]]\|(% style="text-align:center" %)D\|(% style="text-align:center" %)QD\|(% style="text-align:center" %) \| \|0.01°\|
	130	\| \|[[Move in Degrees (relative)>>\|\|anchor="H28Relative29MoveinDegrees28MD29"]]\|(% style="text-align:center" %)MD\|(% style="text-align:center" %) \|(% style="text-align:center" %) \| \|0.01°\|
	131	\| \|[[Wheel mode in Degrees>>\|\|anchor="HWheelModeinDegrees28WD29"]]\|(% 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"
22.1	132	\| \|[[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"
	133	\| \|[[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
76.1	134	\| \|[[Query Motion Time>>doc:\|\|anchor="HMotionTime"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QMT\|(% style="text-align:center" %) \| \|0.01s\|
	135	\| \|[[Query Current Speed>>doc:\|\|anchor="HCurrentSpeed"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QCS\|(% style="text-align:center" %) \| \|0.01°/s\|
22.1	136	\| \|[[Limp>>\|\|anchor="HLimp28L29"]]\|(% style="text-align:center" %)L\|(% style="text-align:center" %) \|(% style="text-align:center" %) \| \| \|Removes power from stepper coils
78.14	137	\| \|[[Halt & Hold>>doc:\|\|anchor="HHalt26Hold28H29"]]\|(% style="text-align:center" %)H\|(% style="text-align:center" %) \|(% style="text-align:center" %) \| \| \|Stops (halts) motion and holds last position
13.1	138
22.1	139	\|(% colspan="8" style="color:orange; font-size:18px" %)[[Motion Setup>>\|\|anchor="HMotionSetup"]]
	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
76.1	141	\| \|[[Origin Offset>>\|\|anchor="HOriginOffset28O29"]]\|(% 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	\| \|[[Angular Range>>\|\|anchor="HAngularRange28AR29"]]\|(% 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	\| \|[[Angular Acceleration>>\|\|anchor="HAngularAcceleration28AA29"]]\|(% 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	\| \|[[Angular Deceleration>>\|\|anchor="HAngularDeceleration28AD29"]]\|(% 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	\| \|[[Gyre Direction>>\|\|anchor="HGyreDirection28G29"]]\|(% 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	\| \|[[First Position (Deg)>>\|\|anchor="HFirstPosition"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QFD\|(% style="text-align:center" %)CFD\|(% style="text-align:center" %) \|(% style="text-align:center" %)0.01°\|Reset required after change.
	147	\| \|[[Maximum Speed in Degrees>>\|\|anchor="HMaximumSpeedinDegrees28SD29"]]\|(% 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
	148	\| \|[[Maximum Speed in RPM>>\|\|anchor="HMaximumSpeedinRPM28SR29"]]\|(% 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
13.1	149
22.1	150	\|(% colspan="8" style="color:orange; font-size:18px" %)[[Modifiers>>\|\|anchor="HModifiers"]]
	151	\|(% 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
78.11	152	\| \|[[Speed in Degrees>>doc:\|\|anchor="HSpeed28SD29modifier"]]\|(% style="text-align:center" %)SD\|(% style="text-align:center" %) \|(% style="text-align:center" %) \| \|0.01°/s\|For D and MD action commands
22.1	153	\| \|[[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	154
22.1	155	\|(% colspan="8" style="color:orange; font-size:18px" %)[[Telemetry>>\|\|anchor="HTelemetry"]]
	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
76.1	157	\| \|[[Query PCB Temperature>>doc:\|\|anchor="HQueryPCBTemperature28QT29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QT\|(% style="text-align:center" %) \| \|0.1°C\|
	158	\| \|[[Query Current>>doc:\|\|anchor="HQueryCurrent28QC29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QC\|(% style="text-align:center" %) \| \|mA\|Nominal RMS value to stepper motor driver IC.
76.5	159	\| \|[[Query Model String>>doc:\|\|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)
76.6	160	\| \|[[Query Firmware Version>>doc:\|\|anchor="HQueryFirmware28QF29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QF\|(% style="text-align:center" %) \| \| \|
	161	\| \|[[Query Serial Number>>doc:\|\|anchor="HQuerySerialNumber28QN29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QN\|(% style="text-align:center" %) \| \| \|Returns the unique serial number for the servo
76.1	162	\| \|[[Query Temperature Probe>>doc:\|\|anchor="HQueryTemperatureProbe28QTP29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QTP\|(% style="text-align:center" %) \| \|0.1°C\|Queries temperature probe fixed to the stepper motor
76.6	163	\| \|[[Query Temp of MCU>>doc:\|\|anchor="HQueryTemperatureMCU28QTM29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QTM\|(% style="text-align:center" %) \| \|0.1°C\|
	164	\| \|[[Query Temp of Controller Error>>doc:\|\|anchor="HQueryTempControllerError28QTCE29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QTCE\|(% style="text-align:center" %) \| \| \|(((
76.1	165	Temperature error status of the motor controller (over-temp error)
22.1	166	)))
76.6	167	\| \|[[Query Temp of Controller Warning>>doc:\|\|anchor="HQueryTempControllerWarning28QTCW29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QTCW\|(% style="text-align:center" %) \| \| \|Temperature error status of the motor controller (pre-warning)
76.1	168	\| \|[[Query Error Flag>>doc:\|\|anchor="HQueryErrorFlag28QEF29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QEF\|(% style="text-align:center" %) \| \| \|
78.2	169	\| \|[[Query IMU Linear X>>doc:\|\|anchor="HQueryIMULinear28QIXQIYQIZ29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QIX\|(% style="text-align:center" %) \| \|mm/s^2\|
55.1	170	\| \|[[Query IMU Linear Y>>doc:\|\|anchor="HQueryIMULinear28QIXQIYQIZ29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QIY\|(% style="text-align:center" %) \| \|mm/s^2\|
	171	\| \|[[Query IMU Linear Z>>doc:\|\|anchor="HQueryIMULinear28QIXQIYQIZ29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QIZ\|(% style="text-align:center" %) \| \|mm/s^2\|
78.8	172	\| \|[[Query IMU Angular Accel α >>doc:\|\|anchor="HQueryIMUAngular28QIAQIBQIG29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QIA\|(% style="text-align:center" %) \| \|°/s^2\|Query IMU Angular Accel α (Alpha)
78.9	173	\| \|[[Query IMU Angular Accel β>>doc:\|\|anchor="HQueryIMUAngular28QIAQIBQIG29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QIB\|(% style="text-align:center" %) \| \|°/s^2\|Query IMU Angular Accel β (Beta)
	174	\| \|[[Query IMU Angular Accel γ>>doc:\|\|anchor="HQueryIMUAngular28QIAQIBQIG29"]]\|(% style="text-align:center" %) \|(% style="text-align:center" %)QIG\|(% style="text-align:center" %) \| \|°/s^2\|Query IMU Angular Accel γ (Gamma)
19.1	175
22.1	176	\|(% colspan="8" style="color:orange; font-size:18px" %)[[RGB LED>>\|\|anchor="HRGBLED"]]
	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
	179
19.1	180	= (% style="color:inherit; font-family:inherit" %)Details(%%) =
	181
	182	== (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) ==
	183
57.1	184	\|(% colspan="2" %)(((
	185	====== __Reset__ ======
	186	)))
	187	\| \|(((
	188	Ex: #5RESET<cr>
36.1	189
57.1	190	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.
	191	)))
36.1	192
57.1	193	\|(% colspan="2" %)(((
36.1	194	====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
57.1	195	)))
60.1	196	\|(% style="width:30px" %) \|(((
36.1	197	(% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
	198
	199	(% 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.
	200
	201	(% style="color:inherit; font-family:inherit" %)EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
	202
	203	(% style="color:inherit; font-family:inherit" %)Since it it not common to have to restore all configurations, a confirmation command is needed after a firmware command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will exit the command.
	204
	205	(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
58.1	206	)))
36.1	207
58.1	208	\|(% colspan="2" %)(((
36.1	209	====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
58.1	210	)))
60.1	211	\|(% style="width:30px" %) \|(((
36.1	212	(% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
	213
	214	(% 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.
	215
	216	(% style="color:inherit; font-family:inherit" %)EX: #5UPDATE<cr> followed by #5CONFIRM<cr>
	217
	218	(% style="color:inherit; font-family:inherit" %)Since it it not common to have to update firmware, a confirmation command is needed after an UPDATE command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will leave the firmware action.
	219
	220	(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
58.1	221	)))
36.1	222
60.1	223	\|(% colspan="2" %)(((
	224	====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
	225	)))
59.1	226	\|(% style="width:30px" %) \|(((
36.1	227	(% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
	228
	229	(% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
37.1	230	Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
59.1	231	)))
36.1	232
60.1	233	\|(% colspan="2" %)(((
61.1	234	====== (% style="color:inherit; font-family:inherit" %)__ID Number__(%%) ======
60.1	235	)))
59.1	236	\|(% style="width:30px" %) \|(((
61.1	237	This assigns ID #5 to the servo previously assigned to ID 0
	238
39.1	239	(% style="color:inherit; font-family:inherit" %)Configure ID Number (CID)
	240
	241	(% style="color:inherit; font-family:inherit" %)Ex: #0CID5<cr>
	242
	243	The default ID is 0, so this sets the servo to ID 5.
	244
	245	Query ID Number (QID)
	246
	247	Ex: #254QID<cr> might return *254QID5<cr>
	248
	249	In this case, the broadcast ID is used to ensure the servo connected will reply with the ID. This can be used in case the ID assigned to a servo is forgotten.
59.1	250	)))
39.1	251
60.1	252	\|(% colspan="2" %)(((
61.1	253	====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor__(%%) ======
60.1	254	)))
59.1	255	\|(% style="width:30px" %) \|(((
37.1	256	Query Enable CAN Terminal Resistor (QET)
	257
	258	Ex: #5QET<cr> might return *QET0<cr>
	259
	260	This means that servo with ID 5 is NOT configured as the last servo in the CAN bus.
	261
	262	Configure Enable CAN Terminal Resistor (CET)
	263
	264	(% style="color:inherit; font-family:inherit" %)Ex: #5CET1<cr>
	265
	266	(% style="color:inherit; font-family:inherit" %)This commands sets servo with ID 5 as being the last in the CAN Bus. The last servo in a CAN bus must be configured this way.
59.1	267	)))
37.1	268
60.1	269	\|(% colspan="2" %)(((
61.1	270	====== __USB Connection Status__ ======
60.1	271	)))
59.1	272	\|(% style="width:30px" %) \|(((
37.1	273	Query USB Connection Status (QUC)
	274
	275	Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
59.1	276	)))
37.1	277
19.1	278	== Motion ==
	279
62.1	280	\|(% colspan="2" %)(((
79.1	281	====== __Position in Degrees__ ======
62.1	282	)))
	283	\|(% style="width:30px" %) \|(((
79.1	284	Position in Degrees (D)
	285
28.1	286	Example: #5D1456<cr>
19.1	287
28.1	288	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	289
28.1	290	Larger values are permitted and allow for multi-turn functionality using the concept of virtual position (explained above).
19.1	291
28.1	292	Query Position in Degrees (QD)
19.1	293
28.1	294	Example: #5QD<cr> might return *5QD132<cr>
19.1	295
28.1	296	This means the servo is located at 13.2 degrees.
19.1	297
28.1	298	Query Target Position in Degrees (QDT)
19.1	299
28.1	300	Ex: #5QDT<cr> might return *5QDT6783<cr>
	301
19.1	302	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.
62.1	303	)))
19.1	304
62.1	305	\|(% colspan="2" %)(((
79.1	306	====== __Relative Move in Degrees__ ======
62.1	307	)))
	308	\|(% style="width:30px" %) \|(((
78.16	309	(% class="wikigeneratedid" %)
79.1	310	Move in Degrees (MD)
	311
	312	(% class="wikigeneratedid" %)
78.16	313	Example: #5M1500<cr>
19.1	314
78.16	315	(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
	316	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.
62.1	317	)))
19.1	318
62.1	319	\|(% colspan="2" %)(((
79.1	320	====== __Wheel Mode in Degrees__ ======
62.1	321	)))
	322	\|(% style="width:30px" %) \|(((
	323	Wheel mode in Degrees (WD)
19.1	324
28.1	325	Ex: #5WD90<cr>
19.1	326
28.1	327	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	328
28.1	329	Query Wheel Mode in Degrees (QWD)
19.1	330
28.1	331	Ex: #5QWD<cr> might return *5QWD90<cr>
	332
19.1	333	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).
62.1	334	)))
19.1	335
62.1	336	\|(% colspan="2" %)(((
79.1	337	====== __Wheel Mode in RPM__ ======
62.1	338	)))
	339	\|(% style="width:30px" %) \|(((
	340	Wheel moed in RPM (WR)
19.1	341
28.1	342	Ex: #5WR40<cr>
19.1	343
28.1	344	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	345
28.1	346	Query Wheel Mode in RPM (QWR)
19.1	347
28.1	348	Ex: #5QWR<cr> might return *5QWR40<cr>
	349
19.1	350	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).
62.1	351	)))
19.1	352
62.1	353	\|(% colspan="2" %)(((
79.1	354	====== __Status__ ======
62.1	355	)))
	356	\|(% style="width:30px" %) \|(((
79.1	357	Query Status (Q)
	358
28.1	359	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	360
28.1	361	Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
19.1	362
	363	\|(% style="width:25px" %) \|*Value returned (Q)\|Status\|Detailed description
	364	\| \|ex: *5Q0<cr>\|0: Unknown\|LSS is unsure / unknown state
	365	\| \|ex: *5Q1<cr>\|1: Limp\|Motor driving circuit is not powered and horn can be moved freely
	366	\| \|ex: *5Q2<cr>\|2: Free moving\|Servo is rotating in duty motion / free move using the RDM command
	367	\| \|ex: *5Q3<cr>\|3: Accelerating\|Increasing speed from rest (or previous speed) towards travel speed
	368	\| \|ex: *5Q4<cr>\|4: Traveling\|Moving at a stable speed
	369	\| \|ex: *5Q5<cr>\|5: Decelerating\|Decreasing from travel speed towards final position.
64.1	370	\| \|ex: *5Q6<cr>\|6: Holding\|Keeping current position (in EM0 mode, return will normally be holding)
19.1	371	\| \|ex: *5Q7<cr>\|7: Outside limits\|{More details coming soon}
	372	\| \|ex: *5Q8<cr>\|8: Stuck\|Motor cannot perform request movement at current speed setting
	373	\| \|ex: *5Q9<cr>\|9: Blocked\|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
	374	\| \|ex: *5Q10<cr>\|10: Safe Mode\|(((
	375	A safety limit has been exceeded (temperature, peak current or extended high current draw).
	376
	377	Send a Q1 command to know which limit has been reached (described below).
	378	)))
	379
28.1	380	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	381
	382	\|(% style="width:25px" %) \|*Value returned (Q1)\|Status\|Detailed description
	383	\| \|ex: *5Q0<cr>\|No limits have been passed\|Nothing is wrong
	384	\| \|ex: *5Q1<cr>\|Current limit has been passed\|Something cause the current to either spike, or remain too high for too long
	385	\| \|ex: *5Q2<cr>\|Input voltage detected is below or above acceptable range\|Check the voltage of your batteries or power source
	386	\| \|ex: *5Q3<cr>\|Temperature limit has been reached\|The servo is too hot to continue operating safely.
62.1	387	)))
19.1	388
62.1	389	\|(% colspan="2" %)(((
79.1	390	====== __Motion Time__ ======
76.1	391	)))
	392	\|(% style="width:30px" %) \|(((
79.1	393	Query Motion Time (QMT)
76.1	394	)))
	395
	396	\|(% colspan="2" %)(((
79.1	397	====== __Current Speed__ ======
76.1	398	)))
	399	\|(% style="width:30px" %) \|(((
79.1	400	Query Current Speed (QCS)
76.1	401	)))
	402
	403	\|(% colspan="2" %)(((
79.1	404	====== __Limp__ ======
62.1	405	)))
	406	\|(% style="width:30px" %) \|(((
28.1	407	Example: #5L<cr>
19.1	408
28.1	409	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>.
62.1	410	)))
28.1	411
62.1	412	\|(% colspan="2" %)(((
79.1	413	====== __Halt & Hold__ ======
62.1	414	)))
	415	\|(% style="width:30px" %) \|(((
28.1	416	Example: #5H<cr>
	417
19.1	418	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.)
62.1	419	)))
19.1	420
	421	== Motion Setup ==
	422
76.1	423	\|(% colspan="2" %)(((
79.1	424	====== __Origin Offset__ ======
76.1	425	)))
	426	\|(% style="width:30px" %) \|(((
29.1	427	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	428
75.1	429	[[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"]]
19.1	430
	431
29.1	432	In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
19.1	433
75.1	434	[[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"]]
19.1	435
	436
29.1	437	Origin Offset Query (QO)
19.1	438
29.1	439	Example: #5QO<cr> might return *5QO-13
19.1	440
29.1	441	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	442
29.1	443	Configure Origin Offset (CO)
19.1	444
29.1	445	Example: #5CO-24<cr>
19.1	446
	447	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.
76.1	448	)))
19.1	449
76.1	450	\|(% colspan="2" %)(((
79.1	451	====== __Angular Range__ ======
76.1	452	)))
	453	\|(% style="width:30px" %) \|(((
29.1	454	Example: #5AR1800<cr>
19.1	455
29.1	456	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	457
75.1	458	[[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"]]
19.1	459
29.1	460	Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
19.1	461
75.1	462	[[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"]]
19.1	463
	464
29.1	465	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	466
75.1	467	[[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"]]
19.1	468
	469
29.1	470	Query Angular Range (QAR)
19.1	471
29.1	472	Example: #5QAR<cr> might return *5AR1800, indicating the total angular range is 180.0 degrees.
19.1	473
29.1	474	Configure Angular Range (CAR)
19.1	475
29.1	476	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.
76.1	477	)))
19.1	478
76.1	479	\|(% colspan="2" %)(((
79.1	480	====== __Angular Acceleration__ ======
76.1	481	)))
	482	\|(% style="width:30px" %) \|(((
29.1	483	The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
19.1	484
29.1	485	Ex: #5AA30<cr>
19.1	486
29.1	487	This sets the angular acceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).
19.1	488
29.1	489	Query Angular Acceleration (QAA)
19.1	490
29.1	491	Ex: #5QAA<cr> might return *5QAA30<cr>
19.1	492
29.1	493	This returns the servo's angular acceleration in degrees per second squared (°/s^^2^^).
19.1	494
29.1	495	Configure Angular Acceleration (CAA)
19.1	496
29.1	497	Ex: #5CAA30<cr>
19.1	498
	499	This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
76.1	500	)))
19.1	501
76.1	502	\|(% colspan="2" %)(((
79.1	503	====== __Angular Deceleration__ ======
76.1	504	)))
	505	\|(% style="width:30px" %) \|(((
29.1	506	The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
19.1	507
29.1	508	Ex: #5AD30<cr>
19.1	509
29.1	510	This sets the angular deceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).
19.1	511
29.1	512	Query Angular Deceleration (QAD)
19.1	513
29.1	514	Ex: #5QAD<cr> might return *5QAD30<cr>
19.1	515
29.1	516	This returns the servo's angular deceleration in degrees per second squared (°/s^^2^^).
19.1	517
29.1	518	Configure Angular Deceleration (CAD)
19.1	519
29.1	520	Ex: #5CAD30<cr>
19.1	521
29.1	522	This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
76.1	523	)))
19.1	524
76.1	525	\|(% colspan="2" %)(((
79.1	526	====== __Gyre Direction__ ======
76.1	527	)))
	528	\|(% style="width:30px" %) \|(((
29.1	529	"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	530
29.1	531	Ex: #5G-1<cr>
19.1	532
29.1	533	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	534
47.1	535	Query Gyre Direction (QG)
19.1	536
47.1	537	Ex: #5QG<cr> might return *5QG-1<cr>
	538
29.1	539	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	540
29.1	541	Configure Gyre (CG)
19.1	542
29.1	543	Ex: #5CG-1<cr>
19.1	544
	545	This changes the gyre direction as described above and also writes to EEPROM.
76.1	546	)))
19.1	547
76.1	548	\|(% colspan="2" %)(((
19.1	549	====== __First Position__ ======
76.1	550	)))
	551	\|(% style="width:30px" %) \|(((
79.1	552	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.
	553
	554	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.
	555
	556	Query First Position in Degrees (QFD)
	557
	558	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.
	559
	560	Configure First Position in Degrees (CFD)
	561
	562	Ex: #5CFD900<cr>
	563
	564	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>
76.1	565	)))
19.1	566
76.1	567	\|(% colspan="2" %)(((
79.1	568	====== __Maximum Speed in Degrees__ ======
76.1	569	)))
	570	\|(% style="width:30px" %) \|(((
79.1	571	Maximum Speed in Degrees (SD)
19.1	572
79.1	573	Ex: #5SD1800<cr>
	574
	575	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.
	576
	577	Query Speed in Degrees (QSD)
	578
	579	Ex: #5QSD<cr> might return *5QSD1800<cr>
	580
	581	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:
	582
19.1	583	\|Command sent\|Returned value (1/10 °)
29.1	584	\|ex: #5QSD<cr>\|Session value for maximum speed (set by latest SD/SR command)
	585	\|ex: #5QSD1<cr>\|Configured maximum speed in EEPROM (set by CSD/CSR)
	586	\|ex: #5QSD2<cr>\|Instantaneous speed (same as QWD)
	587	\|ex: #5QSD3<cr>\|Target travel speed
19.1	588
79.1	589	Configure Speed in Degrees (CSD)
	590
	591	Ex: #5CSD1800<cr>
	592
	593	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.
76.1	594	)))
19.1	595
76.1	596	\|(% colspan="2" %)(((
79.1	597	====== __Maximum Speed in RPM__ ======
76.1	598	)))
	599	\|(% style="width:30px" %) \|(((
79.1	600	(% class="wikigeneratedid" %)
	601	Maximum Speed in RPM (SR)
19.1	602
79.1	603	(% class="wikigeneratedid" id="HEx:235SR453Ccr3EThiscommandsetstheservo27smaximumspeedformotioncommandsinrpmforthatsession.Intheexampleabove2Ctheservo27smaximumspeedforthatsessionwouldbesetto45rpm.Theservo27smaximumspeedcannotbesethigherthanitsphysicallimitatagivenvoltage.SRoverridesCSR28describedbelow29forthatsession.Uponresetorpowercycle2CtheservorevertstothevalueassociatedwithCSRasdescribedbelow.NotethatSD28describedabove29andSRareeffectivelythesame2Cbutallowtheusertospecifythespeedineitherunit.Thelastcommand28eitherSRorSD29receivediswhattheservousesforthatsession.QuerySpeedinRPM28QSR29Ex:235QSR3Ccr3Emightreturn2A5QSR453Ccr3EBydefaultQSRwillreturnthecurrentsessionvalue2CwhichissettothevalueofCSRasreset2FpowercycleandchangedwheneveranSD2FSRcommandisprocessed.If235QSR13Ccr3Eissent2Ctheconfiguredmaximumspeed28CSRvalue29willbereturnedinstead.Youcanalsoquerythecurrentspeedusing22222andthecurrenttargettravelspeedusing22322.Seethetablebelowforanexample:" %)
	604	Ex: #5SR45<cr>
	605
	606	(% class="wikigeneratedid" %)
	607	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.
	608
	609	(% class="wikigeneratedid" %)
	610	Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit.
	611
	612	(% class="wikigeneratedid" %)
	613	The last command (either SR or SD) received is what the servo uses for that session.
	614
	615	(% class="wikigeneratedid" %)
	616	Query Speed in RPM (QSR)
	617
	618	(% class="wikigeneratedid" %)
	619	Ex: #5QSR<cr> might return *5QSR45<cr>
	620
	621	(% class="wikigeneratedid" %)
	622	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:
	623
19.1	624	\|Command sent\|Returned value (1/10 °)
29.1	625	\|ex: #5QSR<cr>\|Session value for maximum speed (set by latest SD/SR command)
	626	\|ex: #5QSR1<cr>\|Configured maximum speed in EEPROM (set by CSD/CSR)
	627	\|ex: #5QSR2<cr>\|Instantaneous speed (same as QWD)
	628	\|ex: #5QSR3<cr>\|Target travel speed
19.1	629
79.1	630	Configure Speed in RPM (CSR)
	631
	632	Ex: #5CSR45<cr>
	633
	634	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.
76.1	635	)))
19.1	636
	637	== Modifiers ==
	638
76.1	639	\|(% colspan="2" %)(((
79.1	640	====== __Speed __ ======
76.1	641	)))
	642	\|(% style="width:30px" %) \|(((
79.1	643	(% class="wikigeneratedid" %)
	644	Speed in Degrees (SD)
19.1	645
79.1	646	(% class="wikigeneratedid" id="HExample:235D0SD1803Ccr3E" %)
	647	Example: #5D0SD180<cr>
	648
30.1	649	(% class="wikigeneratedid" %)
	650	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	651
30.1	652	(% class="wikigeneratedid" %)
	653	Query Speed (QS)
19.1	654
30.1	655	(% class="wikigeneratedid" %)
	656	Example: #5QS<cr> might return *5QS300<cr>
19.1	657
30.1	658	(% class="wikigeneratedid" %)
	659	This command queries the current speed in microseconds per second.
76.1	660	)))
19.1	661
76.1	662	\|(% colspan="2" %)(((
79.1	663	====== __Timed move__ ======
76.1	664	)))
	665	\|(% style="width:30px" %) \|(((
79.1	666	Timed Move (T)
	667
30.1	668	Example: #5D15000T2500<cr>
19.1	669
30.1	670	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	671
30.1	672	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
76.1	673	)))
19.1	674
	675	== Telemetry ==
	676
76.1	677	\|(% colspan="2" %)(((
79.1	678	====== __Temperature PCB__ ======
76.1	679	)))
	680	\|(% style="width:30px" %) \|(((
79.1	681	Query Temp PCB (QT)
	682
51.1	683	Ex: #5QT<cr> might return *5QT564<cr>
19.1	684
51.1	685	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.
76.1	686	)))
31.1	687
76.1	688	\|(% colspan="2" %)(((
79.1	689	====== __Current__ ======
76.1	690	)))
	691	\|(% style="width:30px" %) \|(((
79.1	692	(% class="wikigeneratedid" %)
	693	Query Current (QC)
19.1	694
79.1	695	(% class="wikigeneratedid" id="HEx:235QC3Ccr3Emightreturn2A5QC1403Ccr3E" %)
	696	Ex: #5QC<cr> might return *5QC140<cr>
	697
51.1	698	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.
76.1	699	)))
31.1	700
76.1	701	\|(% colspan="2" %)(((
79.1	702	====== __Model String__ ======
76.1	703	)))
	704	\|(% style="width:30px" %) \|(((
79.1	705	(% class="wikigeneratedid" %)
	706	Query Model String (QMS)
19.1	707
79.1	708	(% class="wikigeneratedid" id="HEx:235QMS3Ccr3Emightreturn2A5QMSLSS-HS13Ccr3E" %)
	709	Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
	710
31.1	711	This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
76.1	712	)))
31.1	713
76.1	714	\|(% colspan="2" %)(((
79.1	715	====== __Firmware__ ======
76.1	716	)))
	717	\|(% style="width:30px" %) \|(((
79.1	718	Query Firmware (QF)
	719
31.1	720	Ex: #5QF<cr> might return *5QF368<cr>
19.1	721
31.1	722	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
76.1	723	)))
31.1	724
76.1	725	\|(% colspan="2" %)(((
79.1	726	====== __Serial Number__ ======
76.1	727	)))
	728	\|(% style="width:30px" %) \|(((
79.1	729	(% class="wikigeneratedid" %)
	730	Query Serial Number (QN)
19.1	731
79.1	732	(% class="wikigeneratedid" id="HEx:235QN3Ccr3Emightreturn2A5QN123456783Ccr3E" %)
	733	Ex: #5QN<cr> might return *5QN12345678<cr>
	734
31.1	735	The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
76.1	736	)))
49.1	737
76.1	738	\|(% colspan="2" %)(((
79.1	739	====== __Temperature Probe__ ======
76.1	740	)))
	741	\|(% style="width:30px" %) \|(((
79.1	742	Query Temp motor Probe (QTP)
76.1	743	)))
49.1	744
76.1	745	\|(% colspan="2" %)(((
79.1	746	====== __Temperature MCU__ ======
76.1	747	)))
	748	\|(% style="width:30px" %) \|(((
79.1	749	Query Temp MCU (QTM)
76.1	750	)))
49.1	751
76.1	752	\|(% colspan="2" %)(((
79.1	753	====== __Temp Controller Error__ ======
76.1	754	)))
	755	\|(% style="width:30px" %) \|(((
79.1	756	(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
	757	Query Temp Controller Error (QTCE)
76.1	758	)))
	759
	760	\|(% colspan="2" %)(((
79.1	761	====== __Temp Controller Warning__ ======
76.1	762	)))
	763	\|(% style="width:30px" %) \|(((
79.1	764	(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
	765	Query Temp Controller Warning (QTCW)
76.1	766	)))
	767
	768	\|(% colspan="2" %)(((
79.1	769	====== __Error Flag__ ======
76.1	770	)))
	771	\|(% style="width:30px" %) \|(((
79.1	772	Query Error Flag (QEF)
76.1	773	)))
	774
78.2	775	\|(% colspan="2" %)(((
79.1	776	====== __IMU Linear__ ======
78.2	777	)))
	778	\|(% style="width:30px" %) \|(((
79.1	779	(% class="wikigeneratedid" %)
	780	Query IMU Linear (QIX QIY QIZ)
	781
76.1	782	====== Ex: #6QIX<cr> might return *6QIX30<cr> ======
	783
50.1	784	This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
76.1	785	)))
49.1	786
76.1	787	\|(% colspan="2" %)(((
79.1	788	====== __IMU Angular__ ======
78.7	789	)))
	790	\|(% style="width:30px" %) \|(((
79.1	791	(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
	792	Query IMU Angular (QIA QIB QIG)
	793	Ex: #6QIB<cr> might return *6QIB44<cr>
49.1	794
	795	This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
76.1	796	)))
78.8	797
79.1	798
	799

Wiki source code of LSS-PRO Communication Protocol

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