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148	148	| 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD / QDT| | | | ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
149	149	| 10|[[**W**heel mode in **D**egrees>>||anchor="H10.WheelModeinDegrees28WD29"]]| WD| QWD| | | | ✓|tenths of degrees per second (ex 248 = 24.8 degrees per second)|(% style="width:510px" %)A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center; width:113px" %)
150	150	| 11|[[**W**heel mode in **R**PM>>||anchor="H11.WheelModeinRPM28WR29"]]| WR| QWR| | | | ✓|revolutions per minute (rpm)|(% style="width:510px" %)A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center; width:113px" %)
151		-| 12|[[Max **S**peed in **D**egrees>>||anchor="H12.MaxSpeedinDegrees28SD29"]]| SD| QSD|CSD|✓| ✓| ✓|degrees per second (°/s)|(% style="width:510px" %)(((
	151	+| 12|[[Max **S**peed in **D**egrees>>||anchor="H12.MaxSpeedinDegrees28SD29"]]| SD| QSD|CSD|✓| ✓| ✓|tenths of degrees per second |(% style="width:510px" %)(((
152	152	QSD: Add modifier "2" for instantaneous speed.
153	153
154	154	SD overwrites SR / CSD overwrites CSR and vice-versa.
...	...	@@ -183,7 +183,7 @@
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" %)
...	...	@@ -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
...	...	@@ -554,7 +554,7 @@
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	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	560
...	...	@@ -652,7 +652,7 @@
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. The command requires that the servo be RESET. Here is the list and their associated value:
	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:
656	656
657	657	(% style="width:195px" %)
658	658	|(% style="width:134px" %)**Blink While:**|(% style="width:58px" %)**#**
...	...	@@ -673,5 +673,3 @@
673	673	Ex: #5CLB12<cr> only blink when accel or decel (accel 4 + decel 8 = 12)
674	674	Ex: #5CLB48<cr> only blink when free or travel (free 16 + travel 32 = 48)
675	675	Ex: #5CLB63<cr> blink in all status (1 + 2 + 4 + 8 + 16 + 32)
676		-
677		-RESETTING the servo is needed.