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Parent

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1		-Lynxmotion Smart Servo (LSS).WebHome
	1	+Main.WebHome

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1		-xwiki:XWiki.BDaouas
	1	+xwiki:XWiki.RB1

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1		-LSS|communication|protocol|programming|firmware|control|LSS-Ref

Content

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1		-(% class="wikigeneratedid" id="HTableofContents" %)
2		-**Page Contents**
	1	+The Lynxmotion Smart Servo (LSS) protocol was created in order to be as simple and straightforward as possible from a user perspective, while at the same time trying to stay compact and robust yet highly versatile. Almost everything one might expect to be able to configure for a smart servo motor is available.
3	3
4		-{{toc depth="3"/}}
	3	+=== Session ===
5	5
6		-= Serial Protocol Concept =
7		-
8		-The custom Lynxmotion Smart Servo (LSS) serial protocol was created in order to be as simple and straightforward as possible from a user perspective ("human readable format"), while at the same time compact and robust yet highly versatile. The protocol was based on Lynxmotion's SSC-32 RC servo controller and almost everything one might expect to be able to configure for a smart servo motor is available.
9		-
10		-In order to have servos react differently when commands are sent to all servos in a serial bus, the first step a user should take is to assign a different ID number to each servo (explained below). Once this has been done, only the servo(s) which have been assigned to the ID sent as part of the command will follow that command. There is currently no CRC / checksum implemented as part of the protocol.
11		-
12		-== Session ==
13		-
14	14	A "session" is defined as the time between when the servo is powered ON to when it is powered OFF or reset.
15	15
16		-Note that for a given session, the action related to a specific commands overrides the stored value in EEPROM.
17		-
18	18	== Action Commands ==
19	19
20		-Action commands tell the servo, within that session, to do something (i.e. "take an action"). The types of action commands which can be sent are described below, and they cannot be combined with other commands such as queries or configurations. Only one action command can be sent at a time. Action commands are session-specific, therefore once a servo is power cycled, it will not have any "memory" of previous actions or virtual positions (described below on this page). Action commands are sent serially to the servo's Rx pin and must be sent in the following format:
	9	+Action commands are sent serially to the servo's Rx pin and must be set in the following format:
21	21
22	22	1. Start with a number sign # (U+0023)
23	23	1. Servo ID number as an integer
...	...	@@ -28,12 +28,16 @@
28	28	(((
29	29	Ex: #5PD1443<cr>
30	30
31		-This sends a serial command to all servo's Rx pins which are connected to the bus and only servo(s) with ID #5 will move to a position in tenths of degrees ("PD") of 144.3 degrees. Any servo on the bus which does not have ID 5 will take no action when receiving this command.
	20	+Move servo with ID #5 to a position of 144.3 degrees.
32	32
33		-== Action Modifiers ==
	22	+Action commands cannot be combined with query commands, and only one action command can be sent at a time.
34	34
35		-Only two commands can be used as action modifiers: Timed Move (T) and Speed (S) described below. Action modifiers can only be used with certain action commands. The format to include a modifier is:
	24	+Action commands are session-specific, therefore once a servo is power cycled, it will not have any "memory" of previous actions or virtual positions (as described at the bottom of this page).
36	36
	26	+=== Action Modifiers ===
	27	+
	28	+Two commands can be used as action modifiers only: Timed Move and Speed. The format is:
	29	+
37	37	1. Start with a number sign # (U+0023)
38	38	1. Servo ID number as an integer
39	39	1. Action command (one to three letters, no spaces, capital or lower case)
...	...	@@ -44,12 +44,14 @@
44	44
45	45	Ex: #5P1456T1263<cr>
46	46
47		-This results in the servo with ID #5 rotating from the current angular position to a pulse position ("P") of 1456 in a time ("T") of 1263 milliseconds.
	40	+Results in the servo rotating from the current angular position to a pulse position of 1456 in 1263 milliseconds.
	41	+
	42	+Modified commands are command specific.
48	48	)))
49	49
50	50	== Query Commands ==
51	51
52		-Query commands request information from the servo. They are received via the Rx pin of the servo, and the servo's reply is sent via the servo's Tx pin. Using separate lines for Tx and Rx is called "full duplex". Query commands are also similar to action and configuration commands and must use the following format:
	47	+Query commands are sent serially to the servo's Rx pin and must be set in the following format:
53	53
54	54	1. Start with a number sign # (U+0023)
55	55	1. Servo ID number as an integer
...	...	@@ -61,25 +61,24 @@
61	61	)))
62	62
63	63	(((
64		-The query will return a serial string (almost instantaneously) via the servo's Tx pin with the following format:
	59	+The query will return a value via the Tx pin with the following format:
65	65
66		-1. Start with an asterisk * (U+002A)
	61	+1. Start with an asterisk (U+002A)
67	67	1. Servo ID number as an integer
68	68	1. Query command (one to three letters, no spaces, capital letters)
69	69	1. The reported value in the units described, no decimals.
70	70	1. End with a control / carriage return '<cr>'
71	71
72		-There is currently no option to control how fast a servo replies after it has received a query command, therefore when sending a query command to the bus, the controller should be prepared to immediately "listen" for and parse the reply. Sending multiple queries on a bus in fast succession may result in replies overlapping and giving incorrect or corrupt data. As such, the controller should receive a reply before sending a new command. A reply to the query sent above might be:
73		-
74	74	(((
75	75	Ex: *5QD1443<cr>
76	76	)))
77	77
78		-This indicates that servo #5 is currently at 144.3 degrees (1443 tenths of degrees).
	71	+Indicates that servo #5 is currently at 144.3 degrees.
	72	+)))
79	79
80	80	== Configuration Commands ==
81	81
82		-Configuration commands and corresponding values affect a servo's defaults which are written to and read from the servo's EEPROM. These configurations are retained in memory after the servo is reset or power is cut / lost. Some configuration commands affect the session, while others do not. In the Command table below, the column "Session" denotes if the configuration command affects the session.. Not all action commands have a corresponding configuration command and vice versa. More information about which configuration commands are retained when in RC mode can be found on the [[LSS - RC PWM page>>doc:Lynxmotion Smart Servo (LSS).LSS - RC PWM.WebHome]]. Configuration commands are not cumulative, in that if two configurations are sent, one after the next, only the last configuration is used and stored. The format to send a configuration command is identical to that of an action command:
	76	+Configuration commands affect the servo's current session* but unlike action commands, configuration commands are written to EEPROM and are retained even if the servo loses power (therefore NOT session specific). Not all action commands have a corresponding configuration and vice versa. Certain configurations are retained for when the servo is used in RC model. More information can be found on the [[LSS - RC PWM page>>doc:Lynxmotion Smart Servos (LSS).LSS - RC PWM.WebHome]].
83	83
84	84	1. Start with a number sign # (U+0023)
85	85	1. Servo ID number as an integer
...	...	@@ -89,154 +89,91 @@
89	89
90	90	Ex: #5CO-50<cr>
91	91
92		-This configures an absolute origin offset ("CO") with respect to factory origin to servo with ID #5 and changes the offset for that session to -5.0 degrees (50 tenths of degrees). Once the servo is powered off and then powered on, zeroing the servo will cause it to move to -5.0 degrees with respect to the factory origin and report its position as 0 degrees. Configuration commands can be undone / reset either by sending the servo's default value for that configuration, or by doing a factory reset (clears all configurations) described below.
	86	+Assigns an absolute origin offset of -5.0 degrees (with respect to factory origin) to servo #5 and changes the offset for that session to -5.0 degrees.
93	93
94		-**Session vs Configuration Query**
	88	+Configuration commands are not cumulative, in that if two configurations are sent at any time, only the last configuration is used and stored.
95	95
96		-By default, the query command returns the sessions' value. Should no action commands have been sent to change the session value, it will return the value saved in EEPROM which will either be the servo's default, or modified with a configuration command. In order to query the value stored in EEPROM (configuration), add a '1' to the query command:
	90	+*Important Note: the one exception is the baud rate - the servo's current session retains the given baud rate. The new baud rate will only be in place when the servo is power cycled.
97	97
98		-Ex: #5CSR20<cr> immediately sets the maximum speed for servo #5 to 20rpm (explained below) and changes the value in memory.
99		-
100		-After RESET, a command of #5SR4<cr> sets the session's speed to 4rpm, but does not change the configuration value in memory. Therefore:
101		-
102		-#5QSR<cr> would return *5QSR4<cr> which represents the value for that session, whereas
103		-
104		-#5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
105		-
106		-== Virtual Angular Position ==
107		-
108		-The ability to store a "virtual angular position" is a feature which allows for rotation beyond 360 degrees, permitting multiple rotations of the output horn, moving the center position and more. In virtual position mode, the "absolute position" would be the angle of the output shaft with respect to a 360.0 degree circle, and can be obtained by taking the modulus (with respect to 360 degrees) of the value. For example if the virtual position is reported as 15335 (or 1533.5 degrees), taking the modulus would give 93.5 degrees (3600 * 4 + 935 = 15335) as the absolute position (assuming no origin offset).
109		-
110		-[[image:LSS-servo-positions.jpg]]
111		-
112		-In this example, the gyre direction (explained below, a.k.a. "rotation direction") is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees. The following command is sent:
113		-
114		-#1D-300<cr> This causes the servo to move to -30.0 degrees (green arrow)
115		-
116		-#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
117		-
118		-#1D-4200<cr> This next command rotates the servo counterclockwise to a position of -420 degrees (red arrow), which means one full rotation of 360 degrees plus 60.0 degrees (420.0 - 360.0), with a virtual position of -420.0 degrees.
119		-
120		-Although the final physical position would be the same as if the servo were commanded to move to -60.0 degrees, the servo is in fact at -420.0 degrees.
121		-
122		-#1D4800<cr> This new command is sent which would then cause the servo to rotate from -420.0 degrees to 480.0 degrees (blue arrow), which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations.
123		-
124		-#1D3300<cr> would cause the servo to rotate from 480.0 degrees to 330.0 degrees (yellow arrow).
125		-
126		-If / once the servo loses power or is power cycled, it also loses the virtual position associated with that session. For example, if the virtual position was 480.0 degrees before power is cycled, upon power up the servo's position will be read as +120.0 degrees from zero (assuming center position has not been modified).
127		-)))
128		-
129	129	= Command List =
130	130
131		-== Regular ==
132		-
133		-|= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
134		-| 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| L| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
135		-| 2|[[**H**alt & **H**old>>||anchor="H2.Halt26Hold28H29"]]| H| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
136		-| 3|[[**T**imed move>>||anchor="H3.Timedmove28T29modifier"]]| T| | | | | ✓|milliseconds|(% style="width:510px" %) Modifier only for {P, D, MD}|(% style="text-align:center; width:113px" %)
137		-| 4|[[**S**peed>>||anchor="H4.Speed28S29modifier"]]| S| | | | | ✓|microseconds per second|(% style="width:510px" %) Modifier only {P}|(% style="text-align:center; width:113px" %)
138		-| 5|[[**M**ove in **D**egrees (relative)>>||anchor="H5.28Relative29MoveinDegrees28MD29"]]| MD| | | | | ✓|tenths of degrees (ex 325 = 32.5 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
139		-| 6|[[**O**rigin Offset>>||anchor="H6.OriginOffsetAction28O29"]]| O| QO|CO|✓| ✓| ✓|tenths of degrees (ex 91 = 9.1 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
140		-0
	94	+|= #|=Description|= Action|= Query|= Config|= RC|= Serial|= Units|= Notes
	95	+| 1|**L**imp| L| | | | ✓| none|
	96	+| 2|**H**alt & Hold| H| | | | ✓| none|
	97	+| 3|**T**imed move| T| | | | ✓| milliseconds| Modifier only
	98	+| 4|**S**peed| S| | | | ✓| microseconds / second| Modifier only
	99	+| 5|**M**ove in **D**egrees (relative)| MD| | | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
	100	+| 6|**O**rigin Offset| O| QO| CO| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
	101	+| 7|**A**ngular **R**ange| AR| QAR| CAR| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
	102	+| 8|Position in **P**ulse| P| QP| | | ✓| microseconds|(((
	103	+Valid values for P are [500, 2500]. Values outside this range are corrected to end points.
	104	+Valid values for QP are {-500, [500, 2500], -2500}. Values outside the [500, 2500] range are given a negative corresponding end point value to indicate they are out of bounds.
141	141	)))
142		-| 7|[[**A**ngular **R**ange>>||anchor="H7.AngularRange28AR29"]]| AR| QAR| CAR|✓| ✓| ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
143		-1800
144		-)))
145		-| 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| P| QP| | | | ✓|microseconds|(% style="width:510px" %)(((
146		-Inherited from SSC-32 serial protocol
147		-)))|(% style="text-align:center; width:113px" %)
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		-| 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		-| 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" %)(((
152		-QSD: Add modifier "2" for instantaneous speed.
	106	+| 9|Position in **D**egrees| D| QD| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
	107	+| 10|**W**heel mode in **D**egrees| WD| QWD| | | ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|
	108	+| 11|**W**heel mode in **R**PM| WR| QWR| | | ✓| rpm|
	109	+| 12|**S**peed in **D**egrees| SD| QSD| CSD| ✓| ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|
	110	+| 13|**S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|
	111	+| 14|**A**ngular **A**cceleration| AA| QAA| CAA| ✓| ✓| tenths of degrees per second squared|
	112	+| 15|**A**ngular **D**eceleration| AD| QAD| CAD| ✓| ✓| tenths of degrees per second squared|
	113	+| 16|**LED** Color| LED| QLED| CLED| ✓| ✓| none (integer from 1 to 8)|0=OFF 1=RED 2=GREEN 3= BLUE 4=YELLOW 5=CYAN 6= 7=MAGENTA, 8=WHITE
	114	+| 17|**ID** #| ID| QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to.
	115	+| 18|**B**aud rate| B| QB| CB| | ✓| none (integer)|
	116	+| 19|**G**yre direction (**G**)| G| QG| CG| ✓| ✓| none | Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise)
	117	+| 20|**F**irst Position (**P**ulse)| | QFP|CFP | ✓| ✓| none |
	118	+| 21|**F**irst Position (**D**egrees)| | QFD|CFD| ✓| ✓| none |
	119	+| 22|**T**arget (**D**egree) **P**osition| | QDT| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
	120	+| 23|**M**odel| | QM| | | | none (integer)|
	121	+| 24|Serial **N**umber| | QN| | | | none (integer)|
	122	+| 25|**F**irmware version| | QF| | | | none (integer)|
	123	+| 26|**Q**uery (general status)| | Q| | | ✓| none (integer from 1 to 8)|
	124	+| 27|**V**oltage| | QV| | | ✓| tenths of volt (ex 113 = 11.3V; 92 = 9.2V)|
	125	+| 28|**T**emperature| | QT| | | ✓| degrees Celsius|
	126	+| 29|**C**urrent| | QC| | | ✓| tenths of Amps (ex 2 = 0.2A)|
	127	+| | | | | | | | |
	128	+| | | | | | | | |
153	153
154		-SD overwrites SR / CSD overwrites CSR and vice-versa.
155		-)))|(% style="text-align:center; width:113px" %)Max per servo
156		-| 13|[[Max **S**peed in **R**PM>>||anchor="H13.MaxSpeedinRPM28SR29"]]| SR| QSR|CSR|✓| ✓| ✓|revolutions per minute (rpm)|(% style="width:510px" %)(((
157		-QSR: Add modifier "2" for instantaneous speed
	130	+= Details =
158	158
159		-SR overwrites SD / CSR overwrites CSD and vice-versa.
160		-)))|(% style="text-align:center; width:113px" %)Max per servo
161		-| 14|[[**LED** Color>>||anchor="H14.LEDColor28LED29"]]| LED| QLED| CLED|✓| ✓| ✓|none (integer from 0 to 8)|(% style="width:510px" %)0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;|(% style="text-align:center; width:113px" %)7
162		-| 15|[[**G**yre direction (**G**)>>||anchor="H15.GyreRotationDirection28G29"]]| G| QG| CG|✓| ✓| ✓|none |(% style="width:510px" %)Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)|(% style="text-align:center; width:113px" %)1
163		-| 16|[[**ID** #>>||anchor="H16.IdentificationNumber28ID29"]]| | QID| CID| | | ✓|none (integer from 0 to 250)|(% style="width:510px" %)Note: ID 254 is a "broadcast" which all servos respond to. |(% style="text-align:center; width:113px" %)0
164		-| 17|[[**B**aud rate>>||anchor="H17.BaudRate"]]| | QB| CB| | | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)9600
165		-| 18|//{coming soon}//| | | | | | | |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
166		-
167		-)))
168		-| 19|[[**F**irst Position (**D**eg)>>||anchor="H19.FirstPosition28Degrees2928FD29"]]| | QFD|CFD|X| ✓| ✓|none |(% style="width:510px" %)CFD overwrites CFP and vice-versa|(% style="text-align:center; width:113px" %)Limp
169		-| 20|[[**M**odel **S**tring>>||anchor="H20.QueryModelString28QMS29"]]| | QMS| | | | |none (string)|(% style="width:510px" %) Returns the type of servo (ST, HS, HT)|(% style="text-align:center; width:113px" %)
170		-| 21|[[Serial **N**umber>>||anchor="H21.QuerySerialNumber28QN29"]]| | QN| | | | |none (integer)|(% style="width:510px" %) Returns the unique serial number for that servo|(% style="text-align:center; width:113px" %)
171		-| 22|[[**F**irmware version>>||anchor="H22.QueryFirmware28QF29"]]| | QF| | | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
172		-| 23|[[**Q**uery (gen. status)>>||anchor="H23.QueryStatus28Q29"]]| | Q| | | | ✓|none (integer from 1 to 8)|(% style="width:510px" %) See command description for details|(% style="text-align:center; width:113px" %)
173		-| 24|[[**V**oltage>>||anchor="H24.QueryVoltage28QV29"]]| | QV| | | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
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		-| 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).
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" %)
	132	+__1. Limp (**L**)__
182	182
183		-== Advanced ==
184		-
185		-|= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes
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
187		-| A2|[[**A**ngular **H**olding Stiffness>>||anchor="HA2.AngularHoldingStiffness28AH29"]]|AH|QAH|CAH|✓| | ✓|none (integer -10 to +10)|(% style="width:510px" %)Effect is different between serial and RC
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
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
190		-| A5|[[**E**nable **M**otion Control>>||anchor="HA5:MotionControl28EM29"]]|EM|QEM| | | | ✓|none|(% style="width:510px" %)EM0 to disable motion control, EM1 to enable
191		-| A6|[[**C**onfigure **L**ED **B**linking>>||anchor="HA6.ConfigureLEDBlinking28CLB29"]]| | | CLB| | ✓| |none (integer from 0 to 63)|(% style="width:510px" %)(((
192		-0=No blinking, 63=Always blink;
193		-
194		-Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;
195		-)))
196		-
197		-== Details ==
198		-
199		-====== __1. Limp (**L**)__ ======
200		-
201	201	Example: #5L<cr>
202	202
203	203	This action causes the servo to go "limp". The microcontroller will still be powered, but the motor will not. As an emergency safety feature, should the robot not be doing what it is supposed to or risks damage, use the broadcast ID to set all servos limp #254L<cr>.
204	204
205		-====== __2. Halt & Hold (**H**)__ ======
	138	+__2. Halt & Hold (**H**)__
206	206
207	207	Example: #5H<cr>
208	208
209		-This action overrides whatever the servo might be doing at the time the command is received (accelerating, moving continuously etc.) and causes it to stop immediately and hold that angular position.
	142	+This action overrides whatever the servo might be doing at the time the command is received (accelerating, moving continuously etc.) and causes it to stop immediately and hold that position.
210	210
211		-====== __3. Timed move (**T**) modifier__ ======
	144	+__3. Timed move (**T**)__
212	212
213	213	Example: #5P1500T2500<cr>
214	214
215		-Timed move can be used only as a modifier for a position (P, D, MD) actions. The units are in milliseconds, so a timed move of 2500 milliseconds would cause the servo to rotate from its current position to the desired position in 2.5 seconds. The onboard controller will attempt to ensure that the move is performed entirely at the desired velocity, though differences in torque may cause it to not be exact. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.
	148	+Timed move can be used only as a modifier for a position (P) action. The units are in milliseconds, so a timed move of 2500 milliseconds would cause the servo to rotate from its current position to the desired position in 2.5 seconds. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.
216	216
217		-Note: If the calculated speed at which a servo must rotate for a timed move is greater than its maximum speed (which depends on voltage and load), then it will move at its maximum speed, and the time of the move may be longer than requested.
	150	+__4. Speed (**S**)__
218	218
219		-====== __4. Speed (**S**) modifier__ ======
220		-
221	221	Example: #5P1500S750<cr>
222	222
223	223	This command is a modifier only for a position (P) action and determines the speed of the move in microseconds per second. A speed of 750 microseconds would cause the servo to rotate from its current position to the desired position at a speed of 750 microseconds per second. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.
224	224
225		-====== __5. (Relative) Move in Degrees (**MD**)__ ======
	156	+__5. (Relative) Move in Degrees (**MD**)__
226	226
227	227	Example: #5MD123<cr>
228	228
229	229	The relative move command causes the servo to read its current position and move the specified number of tenths of degrees in the corresponding position. For example if the servo is set to rotate CW (default) and an MD command of 123 is sent to the servo, it will cause the servo to rotate clockwise by 12.3 degrees. Negative commands would cause the servo to rotate in the opposite configured direction.
230	230
231		-====== __6. Origin Offset Action (**O**)__ ======
	162	+__6. Origin Offset Action (**O**)__
232	232
233	233	Example: #5O2400<cr>
234	234
235		-This command allows you to temporarily change the origin of the servo in relation to the factory zero position for that session. As with all action commands, the setting will be lost upon servo reset / power cycle. Origin offset commands are not cumulative and always relate to factory zero. In the first image, the origin at factory offset '0' (centered).
	166	+This command allows you to temporarily change the origin of the servo in relation to the factory zero position. The setting will be lost upon servo reset / power cycle. Origin offset commands are not cumulative and always relate to factory zero. Note that for a given session, the O command overrides the CO command. In the first image, the origin at factory offset '0' (centered).
236	236
237	237	[[image:LSS-servo-default.jpg]]
238	238
239		-In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
	170	+In the second image, the origina, as well as the angular range (explained below) have been shifted by 240.0 degrees:
240	240
241	241	[[image:LSS-servo-origin.jpg]]
242	242
...	...	@@ -244,52 +244,51 @@
244	244
245	245	Example: #5QO<cr> Returns: *5QO-13
246	246
247		-This allows you to query the angle (in tenths of degrees) of the origin in relation to the factory zero position. In this example, the new origin is at -1.3 degrees from the factory zero.
	178	+This allows you to query the angle (in tenths of degrees) of the origin in relation to the factory zero position.
248	248
249	249	Configure Origin Offset (**CO**)
250	250
251	251	Example: #5CO-24<cr>
252	252
253		-This command allows you to change the origin of the servo in relation to the factory zero position in EEPROM. The setting will be saved upon servo reset / power cycle. Origin offset configuration commands are not cumulative and always relate to factory zero. The new origin is also used in RC mode. In the example, the new origin will be at -2.4 degrees from the factory zero.
	184	+This command allows you to change the origin of the servo in relation to the factory zero position in EEPROM. The setting will be saved upon servo reset / power cycle. Origin offset configuration commands are not cumulative and always relate to factory zero. The new origin is also used in RC mode.
254	254
255		-====== __7. Angular Range (**AR**)__ ======
	186	+__7. Angular Range (**AR**)__
256	256
257	257	Example: #5AR1800<cr>
258	258
259		-This command allows you to temporarily change the total angular range of the servo in tenths of degrees. This applies to the Position in Pulse (P) command and RC mode. The default for (P) and RC mode is 1800 (180.0 degrees total, or ±90.0 degrees). The image below shows a standard -180.0 to +180.0 range, with no offset:
	190	+This command allows you to temporarily change the total angular range of the servo in tenths of degrees. This applies to the Position in Pulse (P) command and RC mode. The default for (P) and RC mode is 1800 (180.0 degrees total, or ±90.0 degrees). In the first image,
260	260
261	261	[[image:LSS-servo-default.jpg]]
262	262
263		-Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
	194	+Here, the angular range has been restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
264	264
265	265	[[image:LSS-servo-ar.jpg]]
266	266
267		-Finally, the angular range action command (ex. #5AR1800<cr>) and origin offset action command (ex. #5O-1200<cr>) are used to move both the center and limit the angular range:
	198	+The angular range action command (ex. #5AR1800<cr>) and origin offset action command (ex. #5O-1200<cr>) an be used to move both the center and limit the angular range:
268	268
269	269	[[image:LSS-servo-ar-o-1.jpg]]
270	270
271	271	Query Angular Range (**QAR**)
272	272
273		-Example: #5QAR<cr> might return *5AR1800, indicating the total angular range is 180.0 degrees.
	204	+Example: #5QAR<cr> might return *5AR2756
274	274
275	275	Configure Angular Range (**CAR**)
276	276
277	277	This command allows you to change the total angular range of the servo in tenths of degrees in EEPROM. The setting will be saved upon servo reset / power cycle.
278	278
279		-====== __8. Position in Pulse (**P**)__ ======
	210	+__8. Position in Pulse (**P**)__
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.
	214	+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
284	284
285	285	Query Position in Pulse (**QP**)
286	286
287		-Example: #5QP<cr> might return *5QP2334
	218	+Example: #5QP<cr> might return *5QP
288	288
289		-This command queries the current angular position in PWM "units". The user must take into consideration that the response includes any angular range and origin configurations in order to determine the actual angle.
290		-Valid values for QP are {-500, [500, 2500], -2500}. Values outside the [500, 2500] range are given a negative corresponding end point value to indicate they are out of bounds (note that if the servo is physically located at one of the endpoints, it may return a negative number if it is a fraction of a degree beyond the position).
	220	+This command queries the current angular position in PWM "units". The user must take into consideration that the response includes any angular range and origin configurations in order to determine the actual angle.
291	291
292		-====== __9. Position in Degrees (**D**)__ ======
	222	+__9. Position in Degrees (**D**)__
293	293
294	294	Example: #5PD1456<cr>
295	295
...	...	@@ -299,19 +299,10 @@
299	299
300	300	Query Position in Degrees (**QD**)
301	301
302		-Example: #5QD<cr> might return *5QD132<cr>
	232	+Example: #5QD<cr> might return *5QD0<cr>
303	303
304		-This means the servo is located at 13.2 degrees.
	234	+__10. Wheel Mode in Degrees (**WD**)__
305	305
306		-(% class="wikigeneratedid" id="H22.QueryTargetPositioninDegrees28QDT29" %)
307		-Query Target Position in Degrees (**QDT**)
308		-
309		-Ex: #5QDT<cr> might return *5QDT6783<cr>
310		-
311		-The query target position command returns the target angle during and after an action which results in a rotation of the servo horn. In the example above, the servo is rotating to a virtual position of 678.3 degrees. Should the servo not have a target position or be in wheel mode, it will respond without a number (Ex: *5QDT<cr>).
312		-
313		-====== __10. Wheel Mode in Degrees (**WD**)__ ======
314		-
315	315	Ex: #5WD900<cr>
316	316
317	317	This command sets the servo to wheel mode where it will rotate in the desired direction at the selected speed. The example above would have the servo rotate at 90.0 degrees per second clockwise (assuming factory default configurations).
...	...	@@ -322,7 +322,7 @@
322	322
323	323	The servo replies with the angular speed in tenths of degrees per second. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
324	324
325		-====== __11. Wheel Mode in RPM (**WR**)__ ======
	246	+__11. Wheel Mode in RPM (**WR**)__
326	326
327	327	Ex: #5WR40<cr>
328	328
...	...	@@ -334,25 +334,18 @@
334	334
335	335	The servo replies with the angular speed in rpm. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
336	336
337		-====== __12. Max Speed in Degrees (**SD**)__ ======
	258	+__12. Speed in Degrees (**SD**)__
338	338
339	339	Ex: #5SD1800<cr>
340	340
341		-This command sets the servo's maximum speed for motion commands in tenths of degrees per second for that session. In the example above, the servo's maximum speed for that session would be set to 180.0 degrees per second. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. The SD action command overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD and SR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.
	262	+This command sets the servo's maximum speed for action commands in tenths of degrees per second for that session. In the example above, the servo's maximum speed for that session would be set to 180.0 degrees per second. Therefore maximum speed for actions can be set "on the fly". The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SD overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD and SR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) is what the servo uses for that session.
342	342
343	343	Query Speed in Degrees (**QSD**)
344	344
345	345	Ex: #5QSD<cr> might return *5QSD1800<cr>
346	346
347		-By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever an SD/SR command is processed.
348		-If #5QSD1<cr> is sent, the configured maximum speed (CSD value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
	268	+Note that the QSD query will return the current servo speed. Querying the last maximum speed value set using SD or CSD is not possible.
349	349
350		-|**Command sent**|**Returned value (1/10 °)**
351		-|ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
352		-|ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
353		-|ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
354		-|ex: #5QSD3<cr>|Target travel speed
355		-
356	356	Configure Speed in Degrees (**CSD**)
357	357
358	358	Ex: #5CSD1800<cr>
...	...	@@ -359,344 +359,251 @@
359	359
360	360	Using the CSD command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 180.0 degrees per second. When the servo is powered on (or after a reset), the CSD value is used. Note that CSD and CSR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.
361	361
362		-====== __13. Max Speed in RPM (**SR**)__ ======
	276	+__13. Speed in RPM (**SR**)__
363	363
364	364	Ex: #5SD45<cr>
365	365
366		-This command sets the servo's maximum speed for motion commands in rpm for that session. In the example above, the servo's maximum speed for that session would be set to 45rpm. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SD overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.
	280	+This command sets the servo's maximum speed for action commands in rpm for that session. In the example above, the servo's maximum speed for that session would be set to 45rpm. Therefore maximum speed for actions can be set "on the fly". The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SD overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) is what the servo uses for that session.
367	367
368	368	Query Speed in Degrees (**QSR**)
369	369
370	370	Ex: #5QSR<cr> might return *5QSR45<cr>
371	371
372		-By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever an SD/SR command is processed.
373		-If #5QSR1<cr> is sent, the configured maximum speed (CSR value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
	286	+Note that the QSD query will return the current servo speed. Querying the last maximum speed value set using SR or CSR is not possible.
374	374
375		-|**Command sent**|**Returned value (1/10 °)**
376		-|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
377		-|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
378		-|ex: #5QSR2<cr>|Instantaneous speed (same as QWR)
379		-|ex: #5QSR3<cr>|Target travel speed
	288	+Configure Speed in Degrees (**CSR**)
380	380
381		-Configure Speed in RPM (**CSR**)
382		-
383	383	Ex: #5CSR45<cr>
384	384
385		-Using the CSR command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSR value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) received is what the servo uses for that session.
	292	+Using the CSD command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSD value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.
386	386
387		-====== __14. LED Color (**LED**)__ ======
	294	+__14. Angular Acceleration (**AA**)__
388	388
389		-Ex: #5LED3<cr>
	296	+{More information coming soon}
390	390
391		-This action sets the servo's RGB LED color for that session.The LED can be used for aesthetics, or (based on user code) to provide visual status updates. Using timing can create patterns.
	298	+Ex:
392	392
393		-0=OFF 1=RED 2=GREEN 3= BLUE 4=YELLOW 5=CYAN 6= 7=MAGENTA, 8=WHITE
	300	+{Description coming soon}
394	394
395		-Query LED Color (**QLED**)
	302	+Query Angular Acceleration (**QAA**)
396	396
397		-Ex: #5QLED<cr> might return *5QLED5<cr>
	304	+Ex:
398	398
399		-This simple query returns the indicated servo's LED color.
	306	+{Description coming soon}
400	400
401		-Configure LED Color (**CLED**)
	308	+Configure Angular Acceleration (**CAA**)
402	402
403		-Configuring the LED color via the CLED command sets the startup color of the servo after a reset or power cycle. Note that it also changes the session's LED color immediately as well.
	310	+Ex:
404	404
405		-====== __15. Gyre Rotation Direction (**G**)__ ======
	312	+{Description coming soon}
406	406
407		-"Gyre" is defined as a circular course or motion. The effect of changing the gyre direction is as if you were to use a mirror image of a circle. CW = 1; CCW = -1. The factory default is clockwise (CW).
	314	+__15. Angular Deceleration (**AD**)__
408	408
409		-Ex: #5G-1<cr>
	316	+{More information coming soon}
410	410
411		-This command will cause servo #5's positions to be inverted, effectively causing the servo to rotate in the opposite direction given the same command. For example in a 2WD robot, servos are often physically installed back to back, therefore setting one of the servos to a negative gyration, the same wheel command (ex WR30) to both servos will cause the robot to move forward or backward rather than rotate.
	318	+Ex:
412	412
413		-Query Gyre Direction (**QG**)
	320	+{Description coming soon}
414	414
415		-Ex: #5QG<cr> might return *5QG-1<cr>
	322	+Query Angular Acceleration (**QAD**)
416	416
417		-The value returned above means the servo is in a counter-clockwise gyration.
	324	+Ex:
418	418
419		-Configure Gyre (**CG**)
	326	+{Description coming soon}
420	420
421		-Ex: #5CG-1<cr>
	328	+Configure Angular Acceleration (**CAD**)
422	422
423		-This changes the gyre direction as described above and also writes to EEPROM.
	330	+Ex:
424	424
425		-====== __16. Identification Number (**ID**)__ ======
	332	+{Description coming soon}
426	426
427		-A servo's identification number cannot be set "on the fly" and must be configured via the CID command described below. The factory default ID number for all servos is 0. Since smart servos are intended to be daisy chained, in order to respond differently from one another, the user must set different identification numbers. Servos with the same ID and baud rate will all receive and react to the same commands (assuming same baud rate).
	334	+__16. RGB LED (**LED**)__
428	428
429		-Query Identification (**QID**)
	336	+Ex: #5LED3<cr>
430	430
431		-EX: #254QID<cr> might return *QID5<cr>
	338	+This action sets the servo's RGB LED color for that session.The LED can be used for aesthetics, or (based on user code) to provide visual status updates. Using timing can create patterns.
432	432
433		-When using the query ID command, it is best to only have one servo connected and thus receive only one reply. This is useful when you are not sure of the servo's ID, but don't want to change it. Using the broadcast command (ID 254) with only one servo will have that servo reply with its ID number (assuming the query is sent . Alternatively, pushing the button upon startup and temporarily setting the servo ID to 255 will still result in the servo responding with its "real" ID.
	340	+0=OFF 1=RED 2=GREEN 3= BLUE 4=YELLOW 5=CYAN 6= 7=MAGENTA, 8=WHITE
434	434
435		-Configure ID (**CID**)
	342	+Query LED Color (**QLED**)
436	436
437		-Ex: #4CID5<cr>
	344	+Ex: #5QLED<cr> might return *5QLED5<cr>
438	438
439		-Setting a servo's ID in EEPROM is done via the CID command. All servos connected to the same serial bus will be assigned that ID. In most situations each servo must be set a unique ID, which means each servo must be connected individually to the serial bus and receive a unique CID number. It is best to do this before the servos are added to an assembly. Numbered stickers are provided to distinguish each servo after their ID is set, though you are free to use whatever alternative method you like. The servo must be RESET or power cycled in order for the new ID to take effect.
	346	+This simple query returns the indicated servo's LED color.
440	440
441		-====== __17. Baud Rate__ ======
	348	+Configure LED Color (**CLED**)
442	442
443		-A servo's baud rate cannot be set "on the fly" and must be configured via the CB command described below. The factory default baud rate for all servos is 9600. Since smart servos are intended to be daisy chained, in order to respond to the same serial bus, all servos in a project should ideally be set to the same baud rate. Setting different baud rates will have the servos respond differently and may create issues. Available baud rates are: 9600 bps, 19200 bps, 38400 bps, 57600 bps, 115.2 kbps, 230.4 kbps, 250.0 kbps, 460.8 kbps, 500.0 kbps. Servos are shipped with a baud rate set to 9600. The baud rates are currently restricted to those above.
	350	+Configuring the LED color via the CLED command sets the startup color of the servo after a reset or power cycle.
444	444
445		-Query Baud Rate (**QB**)
	352	+__17. Identification Number__
446	446
447		-Ex: #5QB<cr> might return *5QB9600<cr>
	354	+A servo's identification number cannot be set "on the fly" and must be configured via the CID command described below. The factory default ID number for all servos is 1. Since smart servos are intended to be daisy chained, in order to respond differently from one another, the user must set different identification numbers. Servos with the same ID and baud rate will all receive and react to the same commands.
448	448
449		-Since the command to query the baud rate must be done at the servo's existing baud rate, it can simply be used to confirm the CB configuration command was correctly received before the servo is power cycled and the new baud rate takes effect.
	356	+Query Identification (**QID**)
450	450
451		-Configure Baud Rate (**CB**)
	358	+EX: #QID<cr> might return *QID5<cr>
452	452
453		-Important Note: the servo's current session retains the given baud rate and the new baud rate will only take effect when the servo is power cycled / RESET.
	360	+When using the query ID command, it is best to only have one servo connected and thus receive only one reply.
454	454
455		-Ex: #5CB9600<cr>
	362	+Configure ID (**CID**)
456	456
457		-Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
	364	+Ex: #CID5<cr>
458	458
459		-====== __18. {//Coming soon//}__ ======
	366	+Setting a servo's ID in EEPROM is done via the CID command. All servos connected to the same serial bus will be assigned that ID. In most situations each servo must be set a unique ID, which means each servo must be connected individually to the serial bus and receive a unique CID number. It is best to do this before the servos are added to an assembly. Numbered stickers are provided to distinguish each servo after their ID is set, though you are free to use whatever alternative method you like.
460	460
461		-Command coming soon....
	368	+__18. Baud Rate__
462	462
463		-====== __19. First Position (Degrees) (**FD**)__ ======
	370	+A servo's baud rate cannot be set "on the fly" and must be configured via the CB command described below. The factory default baud rate for all servos is 9600. Since smart servos are intended to be daisy chained, in order to respond to the same serial bus, all servos in that project should ideally be set to the same baud rate. Setting different baud rates will have the servos respond differently and may create issues. Standard / suggested baud rates are: 4800; 9600; 14400; 19200; 38400; 57600; 115200; 128000; 256000, 512000 bits per second. Servos are shipped with a baud rate set to 9600. The baud rates are currently restricted to those above
464	464
465		-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.
	372	+Query Baud Rate (**QB**)
466	466
467		-Query First Position in Degrees (**QFD**)
	374	+Ex: #5QB<cr> might return *5QB9600<cr>
468	468
469		-Ex: #5QFD<cr> might return *5QFD64<cr>
	376	+Querying the baud rate is used simply to confirm the CB configuration command before the servo is power cycled.
470	470
471		-The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds.
	378	+Configure Baud Rate (**CB**)
472	472
473		-Configure First Position in Degrees (**CFD**)
	380	+Ex: #5CB9600<cr>
474	474
475		-Ex: #5CD64<cr>
	382	+Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
476	476
477		-This configuration command means the servo, when set to smart mode, will immediately move to 6.4 degrees upon power up. Sending a CFD command without a number (Ex. #5CFD<cr>) results in the servo remaining limp upon power up.
	384	+__19. Gyre Rotation Direction__
478	478
479		-====== __20. Query Model String (**QMS**)__ ======
	386	+"Gyre" is defined as a circular course or motion. The effect of changing the gyre direction is as if you were to use a mirror image of a circle. CW = 1; CCW = -1. The factory default is clockwise (CW).
480	480
481		-Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
	388	+{images showing before and after with AR and Origin offset}
482	482
483		-This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
	390	+Query Gyre Direction (**QG**)
484	484
485		-====== __21. Query Serial Number (**QN**)__ ======
	392	+Ex: #5QG<cr> might return *5QG-1<cr>
486	486
487		-Ex: #5QN<cr> might return *5QN12345678<cr>
	394	+The value returned above means the servo is in a counter-clockwise gyration.
488	488
489		-The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
	396	+Configure Gyre (**CG**)
490	490
491		-====== __22. Query Firmware (**QF**)__ ======
	398	+Ex: #5CG-1<cr>
492	492
493		-Ex: #5QF<cr> might return *5QF411<cr>
	400	+This changes the gyre direction as described above and also writes to EEPROM.
494	494
495		-The number in the reply represents the firmware version, in this example being 411.
	402	+__20. First / Initial Position (pulse)__
496	496
497		-====== __23. Query Status (**Q**)__ ======
	404	+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". 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 serial mode only.
498	498
499		-The status query described what the servo is currently doing. The query returns an integer which must be looked up in the table below. Use the CLB advanced command to have the LED blink for certain statuses.
	406	+Query First Position in Pulses (**QFP**)
500	500
501		-Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
	408	+Ex: #5QFP<cr> might return *5QFP1550<cr>
502	502
503		-|***Value returned (Q)**|**Status**|**Detailed description**
504		-|ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
505		-|ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely
506		-|ex: *5Q2<cr>|2: Free moving|Motor driving circuit is not powered and horn can be moved freely
507		-|ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
508		-|ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
509		-|ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
510		-|ex: *5Q6<cr>|6: Holding|Keeping current position
511		-|ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
512		-|ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
513		-|ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
514		-|ex: *5Q10<cr>|10: Safe Mode|(((
515		-A safety limit has been exceeded (temperature, peak current or extended high current draw).
	410	+The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds.
516	516
517		-Send a Q1 command to know which limit has been reached (described below).
518		-)))
	412	+Configure First Position in Pulses (CFP)
519	519
520		-(% class="wikigeneratedid" %)
521		-If a safety limit has been reached and exceeded, the LED will flash red and the servo will stop providing torque (no longer react to commands which cause the motor to rotate). In order to determine which limit has been reached, send a Q1 command. The servo must be RESET in order to return to normal operation, though if a limit is still detected (for example the servo is still too hot), it will revert back to Safe Mode.
	414	+Ex: #5CP1550<cr>
522	522
523		-|***Value returned (Q1)**|**Status**|**Detailed description**
524		-|ex: *5Q0<cr>|No limits have been passed|Nothing is wrong
525		-|ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
526		-|ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
527		-|ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
	416	+This configuration command means the servo, when set to RC mode, will immediately move to an angle equivalent to having received an RC pulse of 1550 microseconds upon power up. Sending a CFP command without a number results in the servo remaining limp upon power up.
528	528
529		-====== __24. Query Voltage (**QV**)__ ======
	418	+__21. First / Initial Position (Degrees)__
530	530
531		-Ex: #5QV<cr> might return *5QV11200<cr>
	420	+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". 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 serial mode only.
532	532
533		-The number returned has one decimal, so in the case above, servo with ID 5 has an input voltage of 11.2V (perhaps a three cell LiPo battery).
	422	+Query First Position in Degrees (**QFD**)
534	534
535		-====== __25. Query Temperature (**QT**)__ ======
	424	+Ex: #5QFD<cr> might return *5QFD64<cr>
536	536
537		-Ex: #5QT<cr> might return *5QT564<cr>
	426	+The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds.
538	538
539		-The units are in tenths of degrees Celcius, so in the example above, the servo's internal temperature is 56.4 degrees C. To convert from degrees Celcius to degrees Farenheit, multiply by 1.8 and add 32. Therefore 56.4C = 133.52F.
	428	+Configure First Position in Degrees (**CFD**)
540	540
541		-====== __26. Query Current (**QC**)__ ======
	430	+Ex: #5CD64<cr>
542	542
543		-Ex: #5QC<cr> might return *5QC140<cr>
	432	+This configuration command means the servo, when set to serial mode, will immediately move to 6.4 degrees upon power up. Sending a CFD command without a number results in the servo remaining limp upon power up.
544	544
545		-The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
	434	+__22. Query Target Position in Degrees (**QDT**)__
546	546
547		-====== __27. Configure RC Mode (**CRC**)__ ======
	436	+Ex: #5QDT<cr> might return *5QDT6783<cr>
548	548
549		-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.
	438	+The query target position command returns the target angle during and after an action which results in a rotation of the servo horn. In the example above, the servo is rotating to a virtual position of 678.3 degrees. Should the servo not have a target position or be in wheel mode, it will respond without a number (Ex: *5QDT<cr>).
550	550
551		-|**Command sent**|**Note**
552		-|ex: #5CRC1<cr>|Change to RC position mode.
553		-|ex: #5CRC2<cr>|Change to RC continuous (wheel) mode.
554		-|ex: #5CRC*<cr>|Where * is any number or value other than 1 or 2 (or no value): stay in smart mode.
	440	+__23. Query Model (**QM**)__
555	555
556		-EX: #5CRC2<cr>
	442	+Ex: #5QM<cr> might return *5QM11<cr>
557	557
558		-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.
	444	+This reply means the servo model is 1.1, meaning high speed servo, first revision. 1=HS (high speed) 2=ST (standard) 3=HT (high torque)
559	559
560		-Important note:** **To revert from RC mode back to serial mode, the [[LSS - Button Menu>>doc:LynxmotionSmartServo.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.
	446	+__24. Query Serial Number (**QN**)__
561	561
562		-====== __28. **RESET**__ ======
	448	+Ex: #5QN<cr> might return *5QN~_~_<cr>
563	563
564		-Ex: #5RESET<cr> or #5RS<cr>
	450	+The number in the response is the servo's serial number which is set and cannot be changed.
565	565
566		-This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
	452	+__25. Query Firmware (**QF**)__
567	567
568		-====== __29. **DEFAULT** & CONFIRM__ ======
	454	+Ex: #5QF<cr> might return *5QF11<cr>
569	569
570		-Ex: #5DEFAULT<cr>
	456	+The integer in the reply represents the firmware version with one decimal, in this example being 1.1
571	571
572		-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.
	458	+__26. Query Status (**Q**)__
573	573
574		-EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
	460	+Ex: #5Q<cr> might return *5Q_<cr>
575	575
576		-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.
	462	+{Description coming soon}
577	577
578		-Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
	464	+__27. Query Voltage (**QV**)__
579	579
580		-====== __30. **UPDATE** & CONFIRM__ ======
	466	+Ex: #5QV<cr> might return *5QV112<cr>
581	581
582		-Ex: #5UPDATE<cr>
	468	+The number returned has one decimal, so in the case above, servo with ID 5 has an input voltage of 11.2V (perhaps a three cell LiPo battery).
583	583
584		-This command sets in motion the equivalent of a long button press when the servo is not powered in order to enter firmware update mode. This is useful should the button be broken or inaccessible. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the UPDATE function.
	470	+__28. Query Temperature (**QT**)__
585	585
586		-EX: #5UPDATE<cr> followed by #5CONFIRM<cr>
	472	+Ex: #5QT<cr> might return *5QT564<cr>
587	587
588		-Since it it not common to have to update firmware, a confirmation command is needed after an UPDATE 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.
	474	+The units are in tenths of degrees Celcius, so in the example above, the servo's internal temperature is 56.4 degrees C. To convert from degrees Celcius to degrees Farenheit, multiply by 1.8 and add 32. Therefore 56.4C = 133.52F.
589	589
590		-Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
	476	+__29. Query Current (QC)__
591	591
592		-= Advanced =
	478	+Ex: #5QC<cr> might return *5QC140<cr>
593	593
594		-The motion controller used in serial mode is not the same as the motion controller use in RC mode. RC mode is intended to add functionality to what would be considered "normal" RC behavior based on PWM input.
	480	+The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
595	595
596		-====== __A1. Angular Stiffness (**AS**)__ ======
	482	+__**RESET**__
597	597
598		-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.
	484	+Ex: #5RESET<cr> or #5RS<cr>
599	599
600		-A positive value of "angular stiffness":
	486	+This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
601	601
602		-* The more torque will be applied to try to keep the desired position against external input / changes
603		-* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
	488	+**__DEFAULT__**
604	604
605		-A negative value on the other hand:
	490	+Ex: #5DEFAULT<cr>
606	606
607		-* Causes a slower acceleration to the travel speed, and a slower deceleration
608		-* Allows the target position to deviate more from its position before additional torque is applied to bring it back
	492	+This command sets all values to the default values included with the version of the firmware installed on that servo.
609	609
610		-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.
	494	+__**FIRMWARE** & **CONFIRM**__
611	611
612		-Ex: #5AS-2<cr>
	496	+Ex: #5FIRMWARE<cr>
613	613
614		-This reduces the angular stiffness to -2 for that session, allowing the servo to deviate more around the desired position. This can be beneficial in many situations such as impacts (legged robots) where more of a "spring" effect is desired. Upon reset, the servo will use the value stored in memory, based on the last configuration command.
	498	+This command clears all user-input values in EEPROM and reverts back to factory defaults for the firmware installed. It does not overwrite any firmware updates. To revert to an older firmware version, please refer to the LSS - Firmware page. The firmware command alone does nothing other than have the servo wait for a confirmation.
615	615
616		-Ex: #5QAS<cr>
	500	+EX: #5FIRMWARE<cr> followed by #5CONFIRM<cr>
617	617
618		-Queries the value being used.
	502	+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.
619	619
620		-Ex: #5CAS<cr>
621	621
622		-Writes the desired angular stiffness value to memory.
	505	+=== Virtual Angular Position ===
623	623
624		-====== __A2. Angular Holding Stiffness (**AH**)__ ======
	507	+{In progress}
625	625
626		-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. Note that when  considering altering a stiffness value, the end effect depends on the mode being tested.
	509	+A "virtual position" is one which allows for multiple rotations of the output horn, moving the center position and more. The "absolute position" would be the angle of the output shaft with respect to 360.0 degrees.
627	627
628		-Ex: #5AH3<cr>
	511	+[[image:LSS-servo-positions.jpg]]
629	629
630		-This sets the holding stiffness for servo #5 to 3 for that session.
	513	+Example: Gyre direction / rotation is positive (clockwise), and origin offset has not been modified.
631	631
632		-Query Angular Hold Stiffness (**QAH**)
	515	+#1D-300<cr> The servo is commander to move to -30.0 degrees (green arrow)
633	633
634		-Ex: #5QAH<cr> might return *5QAH3<cr>
	517	+#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
635	635
636		-This returns the servo's angular holding stiffness value.
	519	+#1D-4200<cr> The servo rotates counterclockwise to a position of -420 degrees (red arrow), which means one full rotation of 360 degrees and (420.0-360.0) stopping at an absolute position of 60.0 degrees, but virtual position of -420.0.
637	637
638		-Configure Angular Hold Stiffness (**CAH**)
	521	+Although the final position would be the same as if the servo were commanded to move to -60.0 degrees, it is in fact at -420.0 degrees.
639	639
640		-Ex: #5CAH2<cr>
641		-
642		-This writes the angular holding stiffness of servo #5 to 2 to EEPROM. Note that when  considering altering a stiffness value, the end effect depends on the mode being tested.
643		-
644		-====== __A3: Angular Acceleration (**AA**)__ ======
645		-
646		-The default value for angular acceleration is 100, which is the same as the maximum deceleration. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
647		-
648		-Ex: #5AA30<cr>
649		-
650		-Query Angular Acceleration (**QAD**)
651		-
652		-Ex: #5QA<cr> might return *5QA30<cr>
653		-
654		-Configure Angular Acceleration (**CAD**)
655		-
656		-Ex: #5CA30<cr>
657		-
658		-====== __A4: Angular Deceleration (**AD**)__ ======
659		-
660		-The default value for angular deceleration is 100, which is the same as the maximum acceleration. Values between 1 and 15 have the greatest impact.
661		-
662		-Ex: #5AD8<cr>
663		-
664		-Query Angular Deceleration (**QAD**)
665		-
666		-Ex: #5QD<cr> might return *5QD8<cr>
667		-
668		-Configure Angular Deceleration (**CAD**)
669		-
670		-Ex: #5CD8<cr>
671		-
672		-====== __A5: Motion Control (**EM**)__ ======
673		-
674		-The command EM0 disables use of the motion controller (acceleration, velocity / travel, deceleration). As such, the servo will move at full speed for all motion commands. The command EM1 enables use of the motion controller.
675		-
676		-Note that if the modifiers S or T are used, it is assumed that motion control is desired, and for that command, EM1 will be used.
677		-
678		-====== __A6. Configure LED Blinking (**CLB**)__ ======
679		-
680		-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:
681		-
682		-(% style="width:195px" %)
683		-|(% style="width:134px" %)**Blink While:**|(% style="width:58px" %)**#**
684		-|(% style="width:134px" %)No blinking|(% style="width:58px" %)0
685		-|(% style="width:134px" %)Limp|(% style="width:58px" %)1
686		-|(% style="width:134px" %)Holding|(% style="width:58px" %)2
687		-|(% style="width:134px" %)Accelerating|(% style="width:58px" %)4
688		-|(% style="width:134px" %)Decelerating|(% style="width:58px" %)8
689		-|(% style="width:134px" %)Free|(% style="width:58px" %)16
690		-|(% style="width:134px" %)Travelling|(% style="width:58px" %)32
691		-|(% style="width:134px" %)Always blink|(% style="width:58px" %)63
692		-
693		-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:
694		-
695		-Ex: #5CLB0<cr> to turn off all blinking (LED always solid)
696		-Ex: #5CLB1<cr> only blink when limp (1)
697		-Ex: #5CLB2<cr> only blink when holding (2)
698		-Ex: #5CLB12<cr> only blink when accel or decel (accel 4 + decel 8 = 12)
699		-Ex: #5CLB48<cr> only blink when free or travel (free 16 + travel 32 = 48)
700		-Ex: #5CLB63<cr> blink in all status (1 + 2 + 4 + 8 + 16 + 32)
701		-
702		-RESETTING the servo is needed.
	523	+#1D4800<cr> This new command is sent which would then cause the servo to rotate from -420.0 degrees to 480.0 degrees, which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations.

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