Last modified by Eric Nantel on 2025/06/06 07:47
From version < 149.1 >
edited by Coleman Benson
on 2019/10/08 10:18
To version < 98.30 >
edited by Coleman Benson
on 2019/02/05 13:49
< >
Change comment: There is no comment for this version

Summary

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1 -lynxmotion-smart-servo.WebHome
1 +Lynxmotion Smart Servo (LSS).WebHome
Content
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1 1  (% class="wikigeneratedid" id="HTableofContents" %)
2 -**Page Contents**
2 +**Table of Contents**
3 3  
4 4  {{toc depth="3"/}}
5 5  
6 -= Serial Protocol =
6 += Serial Protocol Concept =
7 7  
8 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 9  
... ... @@ -79,7 +79,7 @@
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-radio-control-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:
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:
83 83  
84 84  1. Start with a number sign # (U+0023)
85 85  1. Servo ID number as an integer
... ... @@ -128,75 +128,72 @@
128 128  
129 129  = Command List =
130 130  
131 -== Regular ==
132 -
133 -|= #|=Description|=Mod|= 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}. Time is estimated and can change based on load|(% style="text-align:center; width:113px" %)
137 -| 4|[[**S**peed>>||anchor="H4.Speed28S29modifier"]]|S| |QS| | | | ✓|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" %)(((
131 +|= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
132 +| 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| L| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
133 +| 2|[[**H**alt & **H**old>>||anchor="H2.Halt26Hold28H29"]]| H| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
134 +| 3|[[**T**imed move>>||anchor="H3.Timedmove28T29modifier"]]| T| | | | | ✓|milliseconds|(% style="width:510px" %) Modifier only for {P, D, MD}|(% style="text-align:center; width:113px" %)
135 +| 4|[[**S**peed>>||anchor="H4.Speed28S29modifier"]]| S| | | | | ✓|microseconds per second|(% style="width:510px" %) Modifier only {P}|(% style="text-align:center; width:113px" %)
136 +| 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" %)
137 +| 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" %)(((
140 140  0
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" %)(((
140 +| 7|[[**A**ngular **R**ange>>||anchor="H7.AngularRange28AR29"]]| AR| QAR| CAR|✓| ✓| ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
143 143  1800
144 144  )))
145 -| 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| | P| QP| | | | ✓|microseconds|(% style="width:510px" %)(((
143 +| 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| P| QP| | | | ✓|microseconds|(% style="width:510px" %)(((
146 146  Inherited from SSC-32 serial protocol
147 147  )))|(% 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" %)(((
146 +| 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD / QDT| | | | ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
147 +| 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" %)
148 +| 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" %)
149 +| 12|[[Max **S**peed in **D**egrees>>||anchor="H12.MaxSpeedinDegrees28SD29"]]| SD| QSD|CSD|✓| ✓| ✓|tenths of degrees per second |(% style="width:510px" %)(((
152 152  QSD: Add modifier "2" for instantaneous speed.
153 153  
154 154  SD overwrites SR / CSD overwrites CSR and vice-versa.
155 155  )))|(% 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" %)(((
154 +| 13|[[Max **S**peed in **R**PM>>||anchor="H13.MaxSpeedinRPM28SR29"]]| SR| QSR|CSR|✓| ✓| ✓|revolutions per minute (rpm)|(% style="width:510px" %)(((
157 157  QSR: Add modifier "2" for instantaneous speed
158 158  
159 159  SR overwrites SD / CSR overwrites CSD and vice-versa.
160 160  )))|(% 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" %)0 (OFF)
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" %)115200
165 -| 18|//{coming soon}//| | | | | | | | |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
166 -
159 +| 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
160 +| 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
161 +| 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
162 +| 17|[[**B**aud rate>>||anchor="H17.BaudRate"]]| | QB| CB| | | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)9600
163 +| 18|[[**F**irst Position (**P**ulse)>>||anchor="H18.FirstPosition28Pulse2928FP29"]]| | QFP|CFP |X| ✓| ✓|none |(% style="width:510px" %)CFP overwrites CFD and vice-versa|(% style="text-align:center; width:113px" %)(((
164 +Limp
167 167  )))
168 -| 19|[[**F**irst Position (**D**eg)>>||anchor="H19.FirstA0Position28Degrees29"]]| | | QFD|CFD|X| ✓| ✓|none |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)No Value
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).
166 +| 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
167 +| 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" %)
168 +| 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" %)
169 +| 22|[[**F**irmware version>>||anchor="H22.QueryFirmware28QF29"]]| | QF| | | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
170 +| 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" %)
171 +| 24|[[**V**oltage>>||anchor="H24.QueryVoltage28QV29"]]| | QV| | | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
172 +| 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" %)
173 +| 26|[[**C**urrent>>||anchor="H26.QueryCurrent28QC29"]]| | QC| | | | ✓|milliamps (ex 200 = 0.2A)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
174 +| 27|[[**RC** Mode>>||anchor="H2728.RCMode28CRC29"]] - Position| | |CRC1|✓| | ✓|none|(% style="width:510px" %)(((
175 +Change to RC position mode. To revert to smart mode, use the button menu.
178 178  )))|(% 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" %)
177 +| 28|[[**RC** Mode>>||anchor="H2728.RCMode28CRC29"]] - Wheel| | |CRC2|✓| | ✓| |(% style="width:510px" %)Change to RC wheel mode. To revert to smart mode, use the button menu.|(% style="text-align:center; width:113px" %)Serial
178 +| 29|[[**RESET**>>||anchor="H29.RESET"]]| | | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %)
179 +| 30|[[**DEFAULT**>>||anchor="H30.DEFAULTA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %)
180 +| 31|[[**UPDATE**>>||anchor="H31.UPDATEA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Update firmware. See command for details.|(% style="text-align:center; width:113px" %)
182 182  
183 183  == Advanced ==
184 184  
185 -|= #|=(% style="width: 182px;" %)Description|=(% style="width: 56px;" %)Mod|=(% style="width: 70px;" %) Action|=(% style="width: 71px;" %) Query|=(% style="width: 77px;" %) Config|=(% style="width: 77px;" %)Session|=(% style="width: 56px;" %) RC|=(% style="width: 151px;" %) Serial|= Units|=(% style="width: 510px;" %) Notes
186 -| A1|(% style="width:182px" %)[[**A**ngular **S**tiffness>>||anchor="HA1.AngularStiffness28AS29"]]|(% style="width:56px" %) |(% style="width:70px" %)AS|(% style="width:71px" %)QAS|(% style="width:77px" %)CAS|(% style="width:77px" %)✓|(% style="width:56px" %) ✓|(% style="width:151px" %) ✓|none (integer -4 to +4)|(% style="width:510px" %)Suggested values are between 0 to +4
187 -| A2|(% style="width:182px" %)[[**A**ngular **H**olding Stiffness>>||anchor="HA2.AngularHoldingStiffness28AH29"]]|(% style="width:56px" %) |(% style="width:70px" %)AH|(% style="width:71px" %)QAH|(% style="width:77px" %)CAH|(% style="width:77px" %)✓|(% style="width:56px" %) |(% style="width:151px" %) ✓|none (integer -10 to +10)|(% style="width:510px" %)Effect is different between serial and RC
188 -| A3|(% style="width:182px" %)[[**A**ngular **A**cceleration>>||anchor="HA3:AngularAcceleration28AA29"]]|(% style="width:56px" %) |(% style="width:70px" %)AA|(% style="width:71px" %)QAA|(% style="width:77px" %)CAA|(% style="width:77px" %)✓|(% style="width:56px" %) |(% style="width:151px" %) ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared
189 -| A4|(% style="width:182px" %)[[**A**ngular **D**eceleration>>||anchor="HA4:AngularDeceleration28AD29"]]|(% style="width:56px" %) |(% style="width:70px" %)AD|(% style="width:71px" %)QAD|(% style="width:77px" %)CAD|(% style="width:77px" %)✓|(% style="width:56px" %) |(% style="width:151px" %) ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared
190 -| A5|(% style="width:182px" %)[[**E**nable **M**otion Control>>||anchor="HA5:MotionControl28EM29"]]|(% style="width:56px" %) |(% style="width:70px" %)EM|(% style="width:71px" %)QEM|(% style="width:77px" %) |(% style="width:77px" %) |(% style="width:56px" %) |(% style="width:151px" %) ✓|none|(% style="width:510px" %)EM0 to disable motion control, EM1 to enable
191 -| A6|(% style="width:182px" %)[[**C**onfigure **L**ED **B**linking>>||anchor="HA6.ConfigureLEDBlinking28CLB29"]]|(% style="width:56px" %) |(% style="width:70px" %) |(% style="width:71px" %)QLB|(% style="width:77px" %) CLB|(% style="width:77px" %) |(% style="width:56px" %) ✓|(% style="width:151px" %) ✓|none (integer from 0 to 63)|(% style="width:510px" %)(((
184 +|= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
185 +| A1|[[**A**ngular **S**tiffness>>||anchor="HA1.AngularStiffness28AS29"]]| AS|QAS|CAS|✓| ✓| ✓|none (integer -4 to +4)|(% style="width:510px" %)Suggested values are between 0 to +4|(% style="text-align:center; width:113px" %)0
186 +| A2|[[**A**ngular **H**olding Stiffness>>||anchor="HA2.AngularHoldingStiffness28AH29"]]|AH|QAH|CAH|✓| | ✓|none (integer -10 to +10)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)1
187 +| A3|[[**A**ngular **A**cceleration>>||anchor="HA3:AngularAcceleration28AA29"]]|AA|QAA|CAA|✓| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared|(% style="text-align:center; width:113px" %)
188 +| A4|[[**A**ngular **D**eceleration>>||anchor="HA4:AngularDeceleration28AD29"]]|AD|QAD|CAD|✓| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared|(% style="text-align:center; width:113px" %)
189 +| A5|[[**E**nable **M**otion Control>>||anchor="HA5:MotionControl28EM29"]]|EM|QEM| | | | ✓|none|(% style="width:510px" %)EM0 to disable motion control, EM1 to enable|(% style="text-align:center; width:113px" %)
190 +| A6|[[**C**onfigure **L**ED **B**linking>>||anchor="HA6.ConfigureLEDBlinking28CLB29"]]| | | CLB| | ✓| |none (integer from 0 to 63)|(% style="width:510px" %)(((
192 192  0=No blinking, 63=Always blink;
193 193  
194 -Blink while: 1=Limp; 2=Holding; 4=Accel; 8=Decel; 16=Free 32=Travel;
195 -)))
196 -| A7|(% style="width:182px" %)[[**C**urrent **H**alt & **H**old>>||anchor="HA7.CurrentHalt26Hold28CH29"]]|(% style="width:56px" %)CH|(% style="width:70px" %) |(% style="width:71px" %) |(% style="width:77px" %) |(% style="width:77px" %)✓|(% style="width:56px" %) |(% style="width:151px" %)✓|milliamps (ex 400 = 0.4A)|(% style="width:510px" %)
197 -| A8|(% style="width:182px" %)[[**C**urrent **L**imp>>||anchor="HA7.CurrentLimp28CL29"]]|(% style="width:56px" %)CL|(% style="width:70px" %) |(% style="width:71px" %) |(% style="width:77px" %) |(% style="width:77px" %)✓|(% style="width:56px" %) |(% style="width:151px" %)✓|milliamps (ex 400 = 0.4A)|(% style="width:510px" %)
193 +Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;
194 +)))|(% style="text-align:center; width:113px" %)
198 198  
199 -== Details - Basic ==
196 +== Details ==
200 200  
201 201  ====== __1. Limp (**L**)__ ======
202 202  
... ... @@ -224,12 +224,6 @@
224 224  
225 225  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.
226 226  
227 -Query Speed (**QS**)
228 -
229 -Example: #5QS<cr> might return *5QS300<cr>
230 -
231 -This command queries the current speed in microseconds per second.
232 -
233 233  ====== __5. (Relative) Move in Degrees (**MD**)__ ======
234 234  
235 235  Example: #5MD123<cr>
... ... @@ -288,7 +288,7 @@
288 288  
289 289  Example: #5P2334<cr>
290 290  
291 -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.
282 +The position in PWM pulses was retained in order to be backward compatible with the SSC-32 / 32U protocol. This relates the desired angle with an RC standard PWM pulse and is further explained in the SSC-32 and SSC-32U manuals found on Lynxmotion.com. Without any modifications to configuration considered, and a ±90.0 degrees standard range where 1500 microseconds is centered, a pulse of 2334 would set the servo to 165.1 degrees. Valid values for P are [500, 2500]. Values outside this range are corrected to end points.
292 292  
293 293  Query Position in Pulse (**QP**)
294 294  
... ... @@ -299,7 +299,7 @@
299 299  
300 300  ====== __9. Position in Degrees (**D**)__ ======
301 301  
302 -Example: #5D1456<cr>
293 +Example: #5PD1456<cr>
303 303  
304 304  This moves the servo to an angle of 145.6 degrees, where the center (0) position is centered. Negative values (ex. -176 representing -17.6 degrees) are used. A full circle would be from -1800 to 1800 degrees. A value of 2700 would be the same angle as -900, except the servo would move in a different direction.
305 305  
... ... @@ -398,7 +398,7 @@
398 398  
399 399  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.
400 400  
401 -0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;
392 +0=OFF 1=RED 2=GREEN 3= BLUE 4=YELLOW 5=CYAN 6= 7=MAGENTA, 8=WHITE 
402 402  
403 403  Query LED Color (**QLED**)
404 404  
... ... @@ -448,7 +448,7 @@
448 448  
449 449  ====== __17. Baud Rate__ ======
450 450  
451 -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 115200. 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.
442 +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.
452 452  
453 453  Query Baud Rate (**QB**)
454 454  
... ... @@ -464,76 +464,73 @@
464 464  
465 465  Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
466 466  
467 -====== __18. {//Coming soon//}__ ======
458 +====== __18. First Position (Pulse) (**FP**)__ ======
468 468  
469 -Command coming soon....
460 +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.
470 470  
471 -====== __19. First Position (Degrees)__ ======
462 +Query First Position in Pulses (**QFP**)
472 472  
473 -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. Note that the number should be restricted to -1790 (-179.0 degrees) to +1790 (179.0 degrees) and values beyond this will be changed to 1800.
464 +Ex: #5QFP<cr> might return *5QFP1550<cr>
474 474  
466 +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").
467 +
468 +Configure First Position in Pulses (**CFP**)
469 +
470 +Ex: #5CP1550<cr>
471 +
472 +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 (Ex. #5CFP<cr>) results in the servo remaining limp upon power up (i.e. disabled).
473 +
474 +====== __19. First Position (Degrees) (**FD**)__ ======
475 +
476 +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.
477 +
475 475  Query First Position in Degrees (**QFD**)
476 476  
477 477  Ex: #5QFD<cr> might return *5QFD64<cr>
478 478  
479 -The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds. If there is no first position value stored, the reply will be DIS
482 +The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds.
480 480  
481 481  Configure First Position in Degrees (**CFD**)
482 482  
483 483  Ex: #5CD64<cr>
484 484  
485 -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. In order to remove the first position, send no value, ex: #5CFD<cr>
488 +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.
486 486  
487 487  ====== __20. Query Model String (**QMS**)__ ======
488 488  
489 489  Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
490 490  
491 -This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
494 +This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
492 492  
493 -====== __21. Query Serial Number (**QN**)__ ======
496 +====== __241. Query Serial Number (**QN**)__ ======
494 494  
495 -Ex: #5QN<cr> might return *5QN12345678<cr>
498 +Ex: #5QN<cr> might return *5QN~_~_<cr>
496 496  
497 -The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
500 +The number in the response is the servo's serial number which is set and cannot be changed.
498 498  
499 499  ====== __22. Query Firmware (**QF**)__ ======
500 500  
501 -Ex: #5QF<cr> might return *5QF411<cr>
504 +Ex: #5QF<cr> might return *5QF11<cr>
502 502  
503 -The number in the reply represents the firmware version, in this example being 411.
506 +The integer in the reply represents the firmware version with one decimal, in this example being 1.1
504 504  
505 505  ====== __23. Query Status (**Q**)__ ======
506 506  
507 -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.
508 -
509 509  Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
510 510  
511 -|***Value returned (Q)**|**Status**|**Detailed description**
512 -|ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
513 -|ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely
514 -|ex: *5Q2<cr>|2: Free moving|Motor driving circuit is not powered and horn can be moved freely
515 -|ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
516 -|ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
517 -|ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
518 -|ex: *5Q6<cr>|6: Holding|Keeping current position
519 -|ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
520 -|ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
521 -|ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
522 -|ex: *5Q10<cr>|10: Safe Mode|(((
523 -A safety limit has been exceeded (temperature, peak current or extended high current draw).
512 +|*Value returned|**Status**|**Detailed description**
513 +|ex: *5Q0<cr>|Unknown|LSS is unsure
514 +|ex: *5Q1<cr>|Limp|Motor driving circuit is not powered and horn can be moved freely
515 +|ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
516 +|ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
517 +|ex: *5Q4<cr>|Traveling|Moving at a stable speed
518 +|ex: *5Q5<cr>|Decelerating|Decreasing from travel speed towards final position.
519 +|ex: *5Q6<cr>|Holding|Keeping current position
520 +|ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque
521 +|ex: *5Q8<cr>|Outside limits|{More details coming soon}
522 +|ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting
523 +|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
524 524  
525 -Send a Q1 command to know which limit has been reached (described below).
526 -)))
527 -
528 -(% class="wikigeneratedid" %)
529 -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.
530 -
531 -|***Value returned (Q1)**|**Status**|**Detailed description**
532 -|ex: *5Q0<cr>|No limits have been passed|Nothing is wrong
533 -|ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
534 -|ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
535 -|ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
536 -
537 537  ====== __24. Query Voltage (**QV**)__ ======
538 538  
539 539  Ex: #5QV<cr> might return *5QV11200<cr>
... ... @@ -552,40 +552,37 @@
552 552  
553 553  The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
554 554  
555 -====== __27. Configure RC Mode (**CRC**)__ ======
543 +====== __27 / 28. RC Mode (**CRC**)__ ======
556 556  
557 557  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.
558 558  
559 559  |**Command sent**|**Note**
548 +|ex: #5CRC<cr>|Stay in smart mode.
560 560  |ex: #5CRC1<cr>|Change to RC position mode.
561 561  |ex: #5CRC2<cr>|Change to RC continuous (wheel) mode.
562 -|ex: #5CRC*<cr>|Where * is any number or value other than 1 or 2 (or no value): stay in smart mode.
551 +|ex: #5CRC*<cr>|Where * is any number or value. Stay in smart mode.
563 563  
564 -EX: #5CRC2<cr>
553 +EX: #5CRC<cr>
565 565  
566 -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.
555 +====== __29. **RESET**__ ======
567 567  
568 -Important note:** **To revert from RC mode back to serial mode, the [[LSS - Button Menu>>doc:lynxmotion-smart-servo.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.
569 -
570 -====== __28. **RESET**__ ======
571 -
572 572  Ex: #5RESET<cr> or #5RS<cr>
573 573  
574 574  This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
575 575  
576 -====== __29. **DEFAULT** & CONFIRM__ ======
561 +====== __30. **DEFAULT** & CONFIRM__ ======
577 577  
578 578  Ex: #5DEFAULT<cr>
579 579  
580 -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.
565 +This command sets in motion the reset 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.
581 581  
582 582  EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
583 583  
584 -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.
569 +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.
585 585  
586 586  Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
587 587  
588 -====== __30. **UPDATE** & CONFIRM__ ======
573 +====== __31. **UPDATE** & CONFIRM__ ======
589 589  
590 590  Ex: #5UPDATE<cr>
591 591  
... ... @@ -597,13 +597,9 @@
597 597  
598 598  Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
599 599  
600 -== Details - Advanced ==
601 -
602 -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.
603 -
604 604  ====== __A1. Angular Stiffness (**AS**)__ ======
605 605  
606 -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.
587 +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.
607 607  
608 608  A positive value of "angular stiffness":
609 609  
... ... @@ -615,7 +615,7 @@
615 615  * Causes a slower acceleration to the travel speed, and a slower deceleration
616 616  * Allows the target position to deviate more from its position before additional torque is applied to bring it back
617 617  
618 -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.
599 +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.
619 619  
620 620  Ex: #5AS-2<cr>
621 621  
... ... @@ -629,9 +629,9 @@
629 629  
630 630  Writes the desired angular stiffness value to memory.
631 631  
632 -====== __A2. Angular Holding Stiffness (**AH**)__ ======
613 +====== __A2. Angular Holding Stiffness (**AH**)__ ======
633 633  
634 -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.
615 +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.
635 635  
636 636  Ex: #5AH3<cr>
637 637  
... ... @@ -647,86 +647,30 @@
647 647  
648 648  Ex: #5CAH2<cr>
649 649  
650 -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.
631 +This writes the angular holding stiffness of servo #5 to 2 to EEPROM
651 651  
652 652  ====== __A3: Angular Acceleration (**AA**)__ ======
653 653  
654 -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.
635 +{More details to come}
655 655  
656 -Ex: #5AA30<cr>
657 -
658 -Query Angular Acceleration (**QAD**)
659 -
660 -Ex: #5QA<cr> might return *5QA30<cr>
661 -
662 -Configure Angular Acceleration (**CAD**)
663 -
664 -Ex: #5CA30<cr>
665 -
666 666  ====== __A4: Angular Deceleration (**AD**)__ ======
667 667  
668 -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.
639 +{More details to come}
669 669  
670 -Ex: #5AD8<cr>
671 -
672 -Query Angular Deceleration (**QAD**)
673 -
674 -Ex: #5QD<cr> might return *5QD8<cr>
675 -
676 -Configure Angular Deceleration (**CAD**)
677 -
678 -Ex: #5CD8<cr>
679 -
680 680  ====== __A5: Motion Control (**EM**)__ ======
681 681  
682 -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.
643 +{More details to come}
683 683  
684 -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.
685 -
686 686  ====== __A6. Configure LED Blinking (**CLB**)__ ======
687 687  
688 -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:
647 +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).
648 +You can turn on or off blinking for various LSS status. Here is the list and their associated value: 0=No blinking, ; 63=Always blink; Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;
689 689  
690 -(% style="width:195px" %)
691 -|(% style="width:134px" %)**Blink While:**|(% style="width:58px" %)**#**
692 -|(% style="width:134px" %)No blinking|(% style="width:58px" %)0
693 -|(% style="width:134px" %)Limp|(% style="width:58px" %)1
694 -|(% style="width:134px" %)Holding|(% style="width:58px" %)2
695 -|(% style="width:134px" %)Accelerating|(% style="width:58px" %)4
696 -|(% style="width:134px" %)Decelerating|(% style="width:58px" %)8
697 -|(% style="width:134px" %)Free|(% style="width:58px" %)16
698 -|(% style="width:134px" %)Travelling|(% style="width:58px" %)32
699 -|(% style="width:134px" %)Always blink|(% style="width:58px" %)63
700 -
701 701  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:
702 702  
703 703  Ex: #5CLB0<cr> to turn off all blinking (LED always solid)
704 -Ex: #5CLB1<cr> only blink when limp (1)
705 -Ex: #5CLB2<cr> only blink when holding (2)
706 -Ex: #5CLB12<cr> only blink when accel or decel (accel 4 + decel 8 = 12)
707 -Ex: #5CLB48<cr> only blink when free or travel (free 16 + travel 32 = 48)
708 -Ex: #5CLB63<cr> blink in all status (1 + 2 + 4 + 8 + 16 + 32)
709 -
710 -RESETTING the servo is needed.
711 -
712 -====== __A7. Current Halt & Hold (**CH**)__ ======
713 -
714 -This modifier, released in firmware v367, can be added to the following actions: D; MD; WD; WR.
715 -
716 -Ex: #5D1423CH400<cr>
717 -
718 -This has servo with ID 5 move to 142.3 degrees but, should it detect a current of 400mA or higher before it reaches the desired position, will immediately halt and hold position.
719 -
720 -====== __A8. Current Limp (**CL**)__ ======
721 -
722 -This modifier, released in firmware v367, can be added to the following actions: D; MD; WD; WR.
723 -
724 -Ex: #5D1423CH400<cr>
725 -
726 -This has servo with ID 5 move to 142.3 degrees but, should it detect a current of 400mA or higher before it reaches the desired position, will immediately go limp.
727 -
728 -= RGB LED Patterns =
729 -
730 -The LED patterns below do not include those which are part of the button menu, which can be found here: [[LSS Button Menu>>doc:lynxmotion-smart-servo.lss-button-menu.WebHome]]
731 -
732 -[[image:LSS - LED Patterns.png]]
653 +Ex: #5CLB1<cr> only blink when limp
654 +Ex: #5CLB2<cr> only blink when holding
655 +Ex: #5CLB12<cr> only blink when accel or decel
656 +Ex: #5CLB48<cr> only blink when free or travel
657 +Ex: #5CLB63<cr> blink in all status
LSS - LED Patterns.png
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