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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
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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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458	458
459	459	====== __18. First Position (Pulse) (**FP**)__ ======
460	460
461		-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. FP and FD are different in that FP is used for RC mode only, whereas FD is used for smart mode only. If a first position pulse is assigned, the servo will move to that angle and hold there for up to 2 seconds before going limp should a new pulse not be received.
	459	+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. FP and FD are different in that FP is used for RC mode only, whereas FD is used for smart mode only.
462	462
463	463	Query First Position in Pulses (**QFP**)
464	464
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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.
	493	+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>
	497	+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.
	499	+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>
	503	+Ex: #5QF<cr> might return *5QF11<cr>
506	506
507		-The number in the reply represents the firmware version, in this example being 411.
	505	+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
	512	+|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
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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**
	547	+|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.
	550	+|ex: #5CRC*<cr>|Where * is any number or value. Stay in smart mode.
554	554
555		-EX: #5CRC2<cr>
	552	+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.
	554	+====== ======
558	558
559		-Important note:** **To revert from RC mode back to serial mode, the [[LSS - Button Menu>>doc:Lynxmotion Smart Servo (LSS).LSS - Button Menu.WebHome]] is required. Should the button be inaccessible (or broken) when the servo is in RC mode and the user needs to change to serial mode, a 5V constant HIGH needs to be sent to the servo's Rx pin (RC PWM pin), ensuring a common GND and wait for 30 seconds. Normal RC PWM pulses should not exceed 2500 milliseconds. After 30 seconds, the servo will interpret this as a desired mode change and change to serial mode. This has been implemented as a fail safe.
560		-
561	561	====== __28. **RESET**__ ======
562	562
563	563	Ex: #5RESET<cr> or #5RS<cr>
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568	568
569	569	Ex: #5DEFAULT<cr>
570	570
571		-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.
	566	+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.
572	572
573	573	EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
574	574
575		-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.
	570	+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.
576	576
577	577	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
578	578
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588	588
589	589	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
590	590
591		-= Advanced =
592		-
593	593	====== __A1. Angular Stiffness (**AS**)__ ======
594	594
595		-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.
	588	+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.
596	596
597	597	A positive value of "angular stiffness":
598	598
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604	604	* Causes a slower acceleration to the travel speed, and a slower deceleration
605	605	* Allows the target position to deviate more from its position before additional torque is applied to bring it back
606	606
607		-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.
	600	+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.
608	608
609	609	Ex: #5AS-2<cr>
610	610
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620	620
621	621	====== __A2. Angular Holding Stiffness (**AH**)__ ======
622	622
623		-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.
	616	+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.
624	624
625	625	Ex: #5AH3<cr>
626	626
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652	652
653	653	====== __A6. Configure LED Blinking (**CLB**)__ ======
654	654
655		-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:
	648	+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).
	649	+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;
656	656
657		-(% style="width:195px" %)
658		-|(% style="width:134px" %)**Blink While:**|(% style="width:58px" %)**#**
659		-|(% style="width:134px" %)No blinking|(% style="width:58px" %)0
660		-|(% style="width:134px" %)Limp|(% style="width:58px" %)1
661		-|(% style="width:134px" %)Holding|(% style="width:58px" %)2
662		-|(% style="width:134px" %)Accelerating|(% style="width:58px" %)4
663		-|(% style="width:134px" %)Decelerating|(% style="width:58px" %)8
664		-|(% style="width:134px" %)Free|(% style="width:58px" %)16
665		-|(% style="width:134px" %)Travelling|(% style="width:58px" %)32
666		-|(% style="width:134px" %)Always blink|(% style="width:58px" %)63
667		-
668	668	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:
669	669
670	670	Ex: #5CLB0<cr> to turn off all blinking (LED always solid)
671		-Ex: #5CLB1<cr> only blink when limp (1)
672		-Ex: #5CLB2<cr> only blink when holding (2)
673		-Ex: #5CLB12<cr> only blink when accel or decel (accel 4 + decel 8 = 12)
674		-Ex: #5CLB48<cr> only blink when free or travel (free 16 + travel 32 = 48)
675		-Ex: #5CLB63<cr> blink in all status (1 + 2 + 4 + 8 + 16 + 32)
	654	+Ex: #5CLB1<cr> only blink when limp
	655	+Ex: #5CLB2<cr> only blink when holding
	656	+Ex: #5CLB12<cr> only blink when accel or decel
	657	+Ex: #5CLB48<cr> only blink when free or travel
	658	+Ex: #5CLB63<cr> blink in all status