Changes for page LSS Communication Protocol

Last modified by Eric Nantel on 2025/06/06 07:47

From version < 14.1 >

edited by Coleman Benson
on 2018/04/12 15:53

To version < 64.1 >

edited by RB1
on 2018/10/22 13:32

< >

Change comment: There is no comment for this version

Summary

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Page properties

Parent

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--Main.WebHome
++lynxmotion:LSS - Overview (DEV).WebHome

Author

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--xwiki:XWiki.CBenson
++xwiki:XWiki.RB1

Tags

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	1	+LSS\|communication\|protocol\|programming\|firmware\|control

Content

@@ -39,9
          +39,27 @@
  Results in the servo rotating from the current angular position to a pulse position of 1456 in 1263 milliseconds.
--Modified commands are command specific.
++Action modifiers can only be used with certain commands.
  )))
++== Configuration Commands ==
++
++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:LSS - Overview (DEV).LSS - RC PWM.WebHome]].
++
++1. Start with a number sign # (U+0023)
++1. Servo ID number as an integer
++1. Configuration command (two to three letters, no spaces, capital or lower case)
++1. Configuration value in the correct units with no decimal
++1. End with a control / carriage return '<cr>'
++
++Ex: #5CO-50<cr>
++
++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.
++
++Configuration commands are not cumulative, in that if two configurations are sent at any time, only the last configuration is used and stored.
++
++*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.
++
  == Query Commands ==
  Query commands are sent serially to the servo's Rx pin and must be set in the following format:
@@ -69,26
          +69,46 @@
  )))
  Indicates that servo #5 is currently at 144.3 degrees.
--)))
--== Configuration Commands ==
++**Session vs Configuration Query**
--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]].
++By default, the query command returns the sessions' value; should no action commands have been sent to change, it will return the value saved in EEPROM from the last configuration command.
--1. Start with a number sign # (U+0023)
--1. Servo ID number as an integer
--1. Configuration command (two to three letters, no spaces, capital or lower case)
--1. Configuration value in the correct units with no decimal
--1. End with a control / carriage return '<cr>'
++In order to query the value in EEPROM, add a '1' to the query command.
--Ex: #5CO-50<cr>
++Ex: #5CSR20<cr> sets the maximum speed for servo #5 to 20rpm upon RESET (explained below).
--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.
++After RESET: #5SR4<cr> sets the session's speed to 4rpm.
--Configuration commands are not cumulative, in that if two configurations are sent at any time, only the last configuration is used and stored.
++#5QSR<cr> would return *5QSR4<cr> which represents the value for that session.
--*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.
++#5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
++=== Virtual Angular Position ===
++
++{In progress}
++
++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.
++
++[[image:LSS-servo-positions.jpg]]
++
++Example: Gyre direction / rotation is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees.
++
++#1D-300<cr> The servo is sent a command to move to -30.0 degrees (green arrow)
++
++#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
++
++#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,  stopping at an absolute position of 60.0 degrees (420.0-360.0), with a virtual position of -420.0 degrees.
++
++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.
++
++#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.
++
++#1D3300<cr> would cause the servo to rotate from 480.0 degrees to 330.0 degrees (yellow arrow).
++
++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).
++)))
++
  = Command List =
  |= #|=Description|= Action|= Query|= Config|= RC|= Serial|= Units|= Notes
@@ -100,31
          +100,42 @@
  | 6|**O**rigin Offset| O| QO| CO| ✓|  ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
  | 7|**A**ngular **R**ange| AR| QAR| CAR| ✓|  ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
  | 8|Position in **P**ulse| P| QP| | | ✓| microseconds|(((
--See details below.
++See details below
  )))
  | 9|Position in **D**egrees| D| QD| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
  | 10|**W**heel mode in **D**egrees| WD| QWD| | | ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|
  | 11|**W**heel mode in **R**PM| WR| QWR| | | ✓| rpm|
--| 12|**S**peed in **D**egrees| SD| QSD| CSD| ✓| ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|
--| 13|**S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|
--| 14| | | | | | | |
--| 15| | | | | | | |
--| 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
--| 17|**ID** #| ID| QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to.
++| 12|Max **S**peed in **D**egrees| SD| QSD| CSD| ✓| ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|QSD: Add modifier "2" for instantaneous speed
++| 13|Max **S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|QSR: Add modifier "2" for instantaneous speed
++| 14|**A**ngular **S**tiffness| AS| QAS| CAS| ✓| ✓|none|-4 to +4, but suggested values are between 0 to +4
++| 15|**A**ngular **H**olding Stiffness|AH|QAH|CAH| | ✓|none|-10 to +10, with default as 0.
++|15b|**A**ngular **A**cceleration|AA|QAA|CAA| | ✓|degrees per second squared|Increments of 10 degrees per second squared
++|15c|**A**ngular **D**eceleration|AD|QAD|CAD| | ✓|degrees per second squared|Increments of 10 degrees per second squared
++|15d|**M**otion **C**ontrol|MC|QMC| | | ✓|none|MC0 to disable motion control, MC1 to enable. Session specific
++| 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=MAGENTA, 7=WHITE
++| 17|**ID** #| | QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to
  | 18|**B**aud rate| B| QB| CB| | ✓| none (integer)|
  | 19|**G**yre direction (**G**)| G| QG| CG| ✓| ✓| none | Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise)
  | 20|**F**irst Position (**P**ulse)| | QFP|CFP | ✓| ✓| none |
  | 21|**F**irst Position (**D**egrees)| | QFD|CFD| ✓| ✓| none |
  | 22|**T**arget (**D**egree) **P**osition| | QDT| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
--| 23|**M**odel| | QM| | | | none (integer)|
++| 23|**M**odel **String**| | QMS| | | | none (string)| Recommended to determine the model|
++| 23b|**M**odel| | QM| | | | none (integer)| Returns a raw value representing the three model inputs (36 bit)|
  | 24|Serial **N**umber| | QN| | | | none (integer)|
  | 25|**F**irmware version| | QF| | | | none (integer)|
--| 26|**Q**uery (general status)| | Q| | | ✓| none (integer from 1 to 8)|
--| 27|**V**oltage| | QV| | | ✓| tenths of volt (ex 113 = 11.3V; 92 = 9.2V)|
--| 28|**T**emperature| | QT| | | ✓| degrees Celsius|
--| 29|**C**urrent| | QC| | | ✓| tenths of Amps (ex 2 = 0.2A)|
--| | | | | | | | |
--| | | | | | | | |
++| 26|**Q**uery (general status)| | Q| | | ✓| none (integer from 1 to 8)| See command description for details
++| 27|**V**oltage| | QV| | | ✓| millivolts (ex 5936 = 5936mV = 5.936V)|
++| 28|**T**emperature| | QT| | | ✓| tenths of degrees Celsius|Max temp before error: 85°C (servo goes limp)
++| 29|**C**urrent| | QC| | | ✓| milliamps (ex 200 = 0.2A)|
++| 30|**RC** Mode| | |CRC| |✓|none|(((
++CRC: Add modifier "1" for RC-position mode.
++CRC: Add modifier "2" for RC-wheel mode.
++Any other value for the modifier results in staying in smart mode.
++Puts the servo into RC mode. To revert to smart mode, use the button menu.
++)))
++|31|**RESET**| | | | | ✓|none|Soft reset. See command for details.
++|32|**DEFAULT**| | | | |✓|none|Revert to firmware default values. See command for details
++|33|**UPDATE**| | | | |✓|none|Update firmware. See command for details.
  = Details =
@@ -214,10
          +214,10 @@
  Query Position in Pulse (**QP**)
--Example: #5QP<cr> might return *5QP
++Example: #5QP<cr> might return *5QP2334
  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.
--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.
++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).
  __9. Position in Degrees (**D**)__
@@ -229,8
          +229,10 @@
  Query Position in Degrees (**QD**)
--Example: #5QD<cr> might return *5QD0<cr>
++Example: #5QD<cr> might return *5QD132<cr>
++This means the servo is located at 13.2 degrees.
++
  __10. Wheel Mode in Degrees (**WD**)__
  Ex: #5WD900<cr>
@@ -265,8
          +265,15 @@
  Ex: #5QSD<cr> might return *5QSD1800<cr>
--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.
++By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever a SD/SR command is processed.
++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:
++|**Command sent**|**Returned value (1/10 °)**
++|ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
++|ex: #5QSD1<cr>|Configured maximum speed  (set by CSD/CSR)
++|ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
++|ex: #5QSD3<cr>|Target travel speed
++
  Configure Speed in Degrees (**CSD**)
  Ex: #5CSD1800<cr>
@@ -283,14
          +283,81 @@
  Ex: #5QSR<cr> might return *5QSR45<cr>
--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.
++By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever a SD/SR command is processed.
++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:
--Configure Speed in Degrees (**CSR**)
++|**Command sent**|**Returned value (1/10 °)**
++|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
++|ex: #5QSR1<cr>|Configured maximum speed  (set by CSD/CSR)
++|ex: #5QSR2<cr>|Instantaneous speed (same as QWR)
++|ex: #5QSR3<cr>|Target travel speed
++Configure Speed in RPM (**CSR**)
++
  Ex: #5CSR45<cr>
--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.
++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) is what the servo uses for that session.
++__14. Angular Stiffness (**AS**)__
++
++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.
++
++A positive value of "angular stiffness":
++
++* The more torque will be applied to try to keep the desired position against external input / changes
++* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
++
++A negative value on the other hand:
++
++* Causes a slower acceleration to the travel speed, and a slower deceleration
++* Allows the target position to deviate more from its position before additional torque is applied to bring it back
++
++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.
++
++Ex: #5AS-2<cr>
++
++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.
++
++Ex: #5QAS<cr>
++
++Queries the value being used.
++
++Ex: #5CAS<cr>
++
++Writes the desired angular stiffness value to memory.
++
++__15. Angular Hold Stiffness (**AH**)__
++
++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.
++
++Ex: #5AH3<cr>
++
++This sets the holding stiffness for servo #5 to 3 for that session.
++
++Query Angular Hold Stiffness (**QAH**)
++
++Ex: #5QAH<cr> might return *5QAH3<cr>
++
++This returns the servo's angular holding stiffness value.
++
++Configure Angular Hold Stiffness (**CAH**)
++
++Ex: #5CAH2<cr>
++
++This writes the angular holding stiffness of servo #5 to 2 to EEPROM
++
++__15b: Angular Acceleration (**AA**)__
++
++{More details to come}
++
++__15c: Angular Deceleration (**AD**)__
++
++{More details to come}
++
++__15d: Motion Control (**MC**)__
++
++{More details to come}
++
  __16. RGB LED (**LED**)__
  Ex: #5LED3<cr>
@@ -307,27
          +307,28 @@
  Configure LED Color (**CLED**)
--Configuring the LED color via the CLED command sets the startup color of the servo after a reset or power cycle.
++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.
  __17. Identification Number__
--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.
++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.
  Query Identification (**QID**)
--EX: #QID<cr> might return *QID5<cr>
++EX: #254QID<cr> might return *QID5<cr>
--When using the query ID command, it is best to only have one servo connected and thus receive only one reply.
++When using the query ID command, it is best to only have one servo connected and thus receive only one reply using the broadcast command (ID 254). 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.
  Configure ID (**CID**)
--Ex: #CID5<cr>
++Ex: #4CID5<cr>
  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.
  __18. Baud Rate__
--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
++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. Available baud rates are: 9.6 kbps, 19.2 kbps, 38.4 kbps, 57.6 kbps, 115.2 kbps, 230.4 kbps, 250.0 kbps, 460.8 kbps, 500.0 kbps, 750.0 kbps*, 921.6 kbps*. Servos are shipped with a baud rate set to 9600. The baud rates are currently restricted to those above.
++\*: Current tests reveal baud rates above 500 kbps are unstable and can cause timeouts. Please keep this in mind if using those / testing them out.
  Query Baud Rate (**QB**)
@@ -361,23
          +361,23 @@
  __20. First / Initial Position (pulse)__
--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.
++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 smart mode only.
  Query First Position in Pulses (**QFP**)
  Ex: #5QFP<cr> might return *5QFP1550<cr>
--The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds.
++The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds. If no first position has been set, servo will respond with DIS ("disabled").
--Configure First Position in Pulses (CFP)
++Configure First Position in Pulses (**CFP**)
  Ex: #5CP1550<cr>
--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.
++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 (i.e. disabled).
  __21. First / Initial Position (Degrees)__
--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.
++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 smart mode only.
  Query First Position in Degrees (**QFD**)
@@ -389,7
          +389,7 @@
  Ex: #5CD64<cr>
--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.
++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 results in the servo remaining limp upon power up.
  __22. Query Target Position in Degrees (**QDT**)__
@@ -397,12
          +397,18 @@
  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>).
--__23. Query Model (**QM**)__
++__23. Query Model String (**QMS**)__
--Ex: #5QM<cr> might return *5QM11<cr>
++Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
--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)
++This reply means the servo model  is LSS-HS1, meaning a high speed servo, first revision.
++__23b. Query Model (**QM**)__
++
++Ex: #5QM<cr> might return *5QM68702699520cr>
++
++This reply means the servo model is 0xFFF000000 or 100, meaning a high speed servo, first revision.
++
  __24. Query Serial Number (**QN**)__
  Ex: #5QN<cr> might return *5QN~_~_<cr>
@@ -417,13
          +417,24 @@
  __26. Query Status (**Q**)__
--Ex: #5Q<cr> might return *5Q_<cr>
++Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
--{Description coming soon}
++|*Value returned|**Status**|**Detailed description**
++|ex: *5Q0<cr>|Unknown|LSS is unsure
++|ex: *5Q1<cr>|Limp|Motor driving circuit is not powered and horn can be moved freely
++|ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
++|ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
++|ex: *5Q4<cr>|Traveling|Moving at a stable speed
++|ex: *5Q5<cr>|Deccelerating|Decreasing speed towards travel speed towards rest
++|ex: *5Q6<cr>|Holding|Keeping current position
++|ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque
++|ex: *5Q8<cr>|Outside limits|More details coming soon
++|ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting
++|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maxiumum duty and still cannot move (i.e.: stalled)
  __27. Query Voltage (**QV**)__
--Ex: #5QV<cr> might return *5QV112<cr>
++Ex: #5QV<cr> might return *5QV11200<cr>
  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).
@@ -433,19
          +433,31 @@
  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.
--__29. Query Current (QC)__
++__29. Query Current (**QC**)__
  Ex: #5QC<cr> might return *5QC140<cr>
  The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
--__**RESET**__
++__30. RC Mode (**CRC**)__
++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.
++
++|**Command sent**|**Note**
++|ex: #5CRC<cr>|Stay in smart mode.
++|ex: #5CRC1<cr>|Change to RC position mode.
++|ex: #5CRC2<cr>|Change to RC continuous (wheel) mode.
++|ex: #5CRC*<cr>|Where * is any number or value. Stay in smart mode.
++
++EX: #5CRC<cr>
++
++__31. RESET__
++
  Ex: #5RESET<cr> or #5RS<cr>
  This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
--**__DEFAULT __**__& **CONFIRM**__
++__32. DEFAULT & CONFIRM__
  Ex: #5DEFAULT<cr>
@@ -457,7
          +457,7 @@
  Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
--**__UPDATE __**__& **CONFIRM**__
++__33. UPDATE & CONFIRM__
  Ex: #5UPDATE<cr>
@@ -469,22
          +469,4 @@
  Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
--=== Virtual Angular Position ===
--
--{In progress}
--
--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.
--
--[[image:LSS-servo-positions.jpg]]
--
--Example: Gyre direction / rotation is positive (clockwise), and origin offset has not been modified.
--
--#1D-300<cr> The servo is commander to move to -30.0 degrees (green arrow)
--
--#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
--
--#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.
--
--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.
--
--#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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