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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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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
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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.
	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.
462	462
463	463	Query First Position in Pulses (**QFP**)
464	464
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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
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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>