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183	183	== Advanced ==
184	184
185	185	|= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
186		-| A1|[[**A**ngular **S**tiffness>>||anchor="HA1.AngularStiffness28AS29"]]|AS|QAS|CAS|✓| ✓| ✓|none (integer -4 to +4)|(% style="width:510px" %)Suggested values are between 0 to +4|(% style="text-align:center; width:113px" %)0
	186	+| A1|[[**A**ngular **S**tiffness>>||anchor="HA1.AngularStiffness28AS29"]]| AS|QAS|CAS|✓| ✓| ✓|none (integer -4 to +4)|(% style="width:510px" %)Suggested values are between 0 to +4|(% style="text-align:center; width:113px" %)0
187	187	| A2|[[**A**ngular **H**olding Stiffness>>||anchor="HA2.AngularHoldingStiffness28AH29"]]|AH|QAH|CAH|✓| | ✓|none (integer -10 to +10)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)1
188	188	| A3|[[**A**ngular **A**cceleration>>||anchor="HA3:AngularAcceleration28AA29"]]|AA|QAA|CAA|✓| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared|(% style="text-align:center; width:113px" %)
189	189	| A4|[[**A**ngular **D**eceleration>>||anchor="HA4:AngularDeceleration28AD29"]]|AD|QAD|CAD|✓| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared|(% style="text-align:center; width:113px" %)
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280	280
281	281	Example: #5P2334<cr>
282	282
283		-The position in PWM pulses was retained in order to be backward compatible with the SSC-32 / 32U protocol. This relates the desired angle with an RC standard PWM pulse and is further explained in the SSC-32 and SSC-32U manuals found on Lynxmotion.com. Without any modifications to configuration considered, and a ±90.0 degrees standard range where 1500 microseconds is centered, a pulse of 2334 would set the servo to 165.1 degrees. Valid values for P are [500, 2500]. Values outside this range are corrected / restricted to end points.
	283	+The position in PWM pulses was retained in order to be backward compatible with the SSC-32 / 32U protocol. This relates the desired angle with an RC standard PWM pulse and is further explained in the SSC-32 and SSC-32U manuals found on Lynxmotion.com. Without any modifications to configuration considered, and a ±90.0 degrees standard range where 1500 microseconds is centered, a pulse of 2334 would set the servo to 165.1 degrees. Valid values for P are [500, 2500]. Values outside this range are corrected to end points.
284	284
285	285	Query Position in Pulse (**QP**)
286	286
...	...	@@ -512,18 +512,18 @@
512	512
513	513	Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
514	514
515		-|***Value returned**|**Status**|**Detailed description**
516		-|ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
517		-|ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely
518		-|ex: *5Q2<cr>|2: Free moving|Motor driving circuit is not powered and horn can be moved freely
519		-|ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
520		-|ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
521		-|ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
522		-|ex: *5Q6<cr>|6: Holding|Keeping current position
523		-|ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
524		-|ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
525		-|ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
526		-|ex: *5Q9<cr>|10: Safe Mode|A safety limit has been exceeded (temperature, peak current or extended high current draw).
	515	+|*Value returned|**Status**|**Detailed description**
	516	+|ex: *5Q0<cr>|Unknown|LSS is unsure / unknown state
	517	+|ex: *5Q1<cr>|Limp|Motor driving circuit is not powered and horn can be moved freely
	518	+|ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
	519	+|ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
	520	+|ex: *5Q4<cr>|Traveling|Moving at a stable speed
	521	+|ex: *5Q5<cr>|Decelerating|Decreasing from travel speed towards final position.
	522	+|ex: *5Q6<cr>|Holding|Keeping current position
	523	+|ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque
	524	+|ex: *5Q8<cr>|Outside limits|{More details coming soon}
	525	+|ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting
	526	+|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
527	527
528	528	====== __24. Query Voltage (**QV**)__ ======
529	529
...	...	@@ -554,10 +554,8 @@
554	554
555	555	EX: #5CRC2<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. Using the command #5CRC<cr> or #5CRC3<cr> which requests that the servo remain in serial mode still requires a RESET command.
	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.
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>