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1	1	(% class="wikigeneratedid" id="HTableofContents" %)
2		-**Page Contents**
	2	+**Table of Contents**
3	3
4	4	{{toc depth="3"/}}
5	5
...	...	@@ -128,8 +128,6 @@
128	128
129	129	= Command List =
130	130
131		-== Regular ==
132		-
133	133	|= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
134	134	| 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| L| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
135	135	| 2|[[**H**alt & **H**old>>||anchor="H2.Halt26Hold28H29"]]| H| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
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173	173	| 24|[[**V**oltage>>||anchor="H24.QueryVoltage28QV29"]]| | QV| | | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
174	174	| 25|[[**T**emperature>>||anchor="H25.QueryTemperature28QT29"]]| | QT| | | | ✓|tenths of degrees Celsius|(% style="width:510px" %)Max temp before error: 85°C (servo goes limp)|(% style="text-align:center; width:113px" %)
175	175	| 26|[[**C**urrent>>||anchor="H26.QueryCurrent28QC29"]]| | QC| | | | ✓|milliamps (ex 200 = 0.2A)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
176		-| 27|[[**C**hange to** RC**>>||anchor="H27.ConfigureRCMode28CRC29"]]| | |CRC|✓| | ✓|none|(% style="width:510px" %)(((
177		-Change to RC mode 1 (position) or 2 (wheel).
	174	+| 27|[[**RC** Mode>>||anchor="H2728.RCMode28CRC29"]] - Position| | |CRC1|✓| | ✓|none|(% style="width:510px" %)(((
	175	+Change to RC position mode. To revert to smart mode, use the button menu.
178	178	)))|(% style="text-align:center; width:113px" %)Serial
179		-| 28|[[**RESET**>>||anchor="H28.RESET"]]| | | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %)
180		-| 29|[[**DEFAULT**>>||anchor="H29.DEFAULTA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %)
181		-| 30|[[**UPDATE**>>||anchor="H30.UPDATEA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Update firmware. See command for details.|(% style="text-align:center; width:113px" %)
	177	+| 28|[[**RC** Mode>>||anchor="H2728.RCMode28CRC29"]] - Wheel| | |CRC2|✓| | ✓| |(% style="width:510px" %)Change to RC wheel mode. To revert to smart mode, use the button menu.|(% style="text-align:center; width:113px" %)Serial
	178	+| 29|[[**RESET**>>||anchor="H29.RESET"]]| | | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %)
	179	+| 30|[[**DEFAULT**>>||anchor="H30.DEFAULTA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %)
	180	+| 31|[[**UPDATE**>>||anchor="H31.UPDATEA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Update firmware. See command for details.|(% style="text-align:center; width:113px" %)
182	182
183	183	== Advanced ==
184	184
...	...	@@ -492,28 +492,26 @@
492	492
493	493	Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
494	494
495		-This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
	494	+This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
496	496
497	497	====== __21. Query Serial Number (**QN**)__ ======
498	498
499		-Ex: #5QN<cr> might return *5QN12345678<cr>
	498	+Ex: #5QN<cr> might return *5QN~_~_<cr>
500	500
501		-The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
	500	+The number in the response is the servo's serial number which is set and cannot be changed.
502	502
503	503	====== __22. Query Firmware (**QF**)__ ======
504	504
505		-Ex: #5QF<cr> might return *5QF411<cr>
	504	+Ex: #5QF<cr> might return *5QF11<cr>
506	506
507		-The number in the reply represents the firmware version, in this example being 411.
	506	+The integer in the reply represents the firmware version with one decimal, in this example being 1.1
508	508
509	509	====== __23. Query Status (**Q**)__ ======
510	510
511		-The status query described what the servo is currently doing. The query returns an integer which must be looked up in the table below.
512		-
513	513	Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
514	514
515	515	|*Value returned|**Status**|**Detailed description**
516		-|ex: *5Q0<cr>|Unknown|LSS is unsure / unknown state
	513	+|ex: *5Q0<cr>|Unknown|LSS is unsure
517	517	|ex: *5Q1<cr>|Limp|Motor driving circuit is not powered and horn can be moved freely
518	518	|ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
519	519	|ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
...	...	@@ -543,38 +543,37 @@
543	543
544	544	The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
545	545
546		-====== __27. Configure RC Mode (**CRC**)__ ======
	543	+====== __27 / 28. RC Mode (**CRC**)__ ======
547	547
548	548	This command puts the servo into RC mode (position or continuous), where it will only respond to RC pulses. Note that because this is the case, the servo will no longer accept serial commands. The servo can be placed back into smart mode by using the button menu.
549	549
550	550	|**Command sent**|**Note**
	548	+|ex: #5CRC<cr>|Stay in smart mode.
551	551	|ex: #5CRC1<cr>|Change to RC position mode.
552	552	|ex: #5CRC2<cr>|Change to RC continuous (wheel) mode.
553		-|ex: #5CRC*<cr>|Where * is any number or value other than 1 or 2 (or no value): stay in smart mode.
	551	+|ex: #5CRC*<cr>|Where * is any number or value. Stay in smart mode.
554	554
555		-EX: #5CRC2<cr>
	553	+EX: #5CRC<cr>
556	556
557		-This command would place the servo in RC wheel mode after a RESET or power cycle. Note that after a RESET or power cycle, the servo will be in RC mode and will not reply to serial commands.
	555	+====== __29. **RESET**__ ======
558	558
559		-====== __28. **RESET**__ ======
560		-
561	561	Ex: #5RESET<cr> or #5RS<cr>
562	562
563	563	This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
564	564
565		-====== __29. **DEFAULT** & CONFIRM__ ======
	561	+====== __30. **DEFAULT** & CONFIRM__ ======
566	566
567	567	Ex: #5DEFAULT<cr>
568	568
569		-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.
	565	+This command sets in motion the reset 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.
570	570
571	571	EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
572	572
573		-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.
	569	+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 leave the firmware action.
574	574
575	575	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
576	576
577		-====== __30. **UPDATE** & CONFIRM__ ======
	573	+====== __31. **UPDATE** & CONFIRM__ ======
578	578
579	579	Ex: #5UPDATE<cr>
580	580
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586	586
587	587	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
588	588
589		-= Advanced =
590		-
591	591	====== __A1. Angular Stiffness (**AS**)__ ======
592	592
593		-The servo's rigidity / angular stiffness can be thought of as (though not identical to) a damped spring in which the value affects the stiffness and embodies how much, and how quickly the servo tried keep the requested position against changes. There are no units.
	587	+The servo's rigidity / angular stiffness can be thought of as (though not identical to) a damped spring in which the value affects the stiffness and embodies how much, and how quickly the servo tried keep the requested position against changes.
594	594
595	595	A positive value of "angular stiffness":
596	596
...	...	@@ -602,7 +602,7 @@
602	602	* Causes a slower acceleration to the travel speed, and a slower deceleration
603	603	* Allows the target position to deviate more from its position before additional torque is applied to bring it back
604	604
605		-The default value for stiffness depending on the firmware may be 0 or 1. Greater values produce increasingly erratic behavior and the effect becomes extreme below -4 and above +4. Maximum values are -10 to +10.
	599	+The default value is zero and the effect becomes extreme by -4, +4. There are no units, only integers between -4 to 4. Greater values produce increasingly erratic behavior.
606	606
607	607	Ex: #5AS-2<cr>
608	608
...	...	@@ -618,7 +618,7 @@
618	618
619	619	====== __A2. Angular Holding Stiffness (**AH**)__ ======
620	620
621		-The angular holding stiffness determines the servo's ability to hold a desired position under load. The default value for stiffness depending on the firmware may be 0 or 1. Greater values produce increasingly erratic behavior and the effect becomes extreme below -4 and above +4. Maximum values are -10 to +10.
	615	+The angular holding stiffness determines the servo's ability to hold a desired position under load. Values can be from -10 to 10, with the default being 0. Note that negative values mean the final position can be easily deflected.
622	622
623	623	Ex: #5AH3<cr>
624	624
...	...	@@ -650,24 +650,14 @@
650	650
651	651	====== __A6. Configure LED Blinking (**CLB**)__ ======
652	652
653		-This command allows you to control when the RGB LED will blink the user set color (see [[16. RGB LED>>||anchor="H16.RGBLED28LED29"]] 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. Here is the list and their associated value:
	647	+This command allows you to control when the RGB LED will blink the user set color (see [[16. RGB LED>>||anchor="H16.RGBLED28LED29"]] for details).
	648	+You can turn on or off blinking for various LSS status. Here is the list and their associated value: 0=No blinking, ; 63=Always blink; Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;
654	654
655		-(% style="width:195px" %)
656		-|(% style="width:134px" %)**Blink While:**|(% style="width:58px" %)**#**
657		-|(% style="width:134px" %)No blinking|(% style="width:58px" %)0
658		-|(% style="width:134px" %)Limp|(% style="width:58px" %)1
659		-|(% style="width:134px" %)Holding|(% style="width:58px" %)2
660		-|(% style="width:134px" %)Accelerating|(% style="width:58px" %)4
661		-|(% style="width:134px" %)Decelerating|(% style="width:58px" %)8
662		-|(% style="width:134px" %)Free|(% style="width:58px" %)16
663		-|(% style="width:134px" %)Travelling|(% style="width:58px" %)32
664		-|(% style="width:134px" %)Always blink|(% style="width:58px" %)63
665		-
666	666	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:
667	667
668	668	Ex: #5CLB0<cr> to turn off all blinking (LED always solid)
669		-Ex: #5CLB1<cr> only blink when limp (1)
670		-Ex: #5CLB2<cr> only blink when holding (2)
671		-Ex: #5CLB12<cr> only blink when accel or decel (accel 4 + decel 8 = 12)
672		-Ex: #5CLB48<cr> only blink when free or travel (free 16 + travel 32 = 48)
673		-Ex: #5CLB63<cr> blink in all status (1 + 2 + 4 + 8 + 16 + 32)
	653	+Ex: #5CLB1<cr> only blink when limp
	654	+Ex: #5CLB2<cr> only blink when holding
	655	+Ex: #5CLB12<cr> only blink when accel or decel
	656	+Ex: #5CLB48<cr> only blink when free or travel
	657	+Ex: #5CLB63<cr> blink in all status