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	1	+LSS|communication|protocol|programming|firmware

Content

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42	42	Modified commands are command specific.
43	43	)))
44	44
	45	+(((
	46	+
	47	+)))
	48	+
	49	+== Configuration Commands ==
	50	+
	51	+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]].
	52	+
	53	+1. Start with a number sign # (U+0023)
	54	+1. Servo ID number as an integer
	55	+1. Configuration command (two to three letters, no spaces, capital or lower case)
	56	+1. Configuration value in the correct units with no decimal
	57	+1. End with a control / carriage return '<cr>'
	58	+
	59	+Ex: #5CO-50<cr>
	60	+
	61	+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.
	62	+
	63	+Configuration commands are not cumulative, in that if two configurations are sent at any time, only the last configuration is used and stored.
	64	+
	65	+*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.
	66	+
45	45	== Query Commands ==
46	46
47	47	Query commands are sent serially to the servo's Rx pin and must be set in the following format:
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69	69	)))
70	70
71	71	Indicates that servo #5 is currently at 144.3 degrees.
72		-)))
73	73
74		-== Configuration Commands ==
	95	+**Session vs Configuration Query**
75	75
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]].
	97	+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.
77	77
78		-1. Start with a number sign # (U+0023)
79		-1. Servo ID number as an integer
80		-1. Configuration command (two to three letters, no spaces, capital or lower case)
81		-1. Configuration value in the correct units with no decimal
82		-1. End with a control / carriage return '<cr>'
	99	+In order to query the value in EEPROM, add a '1' to the query command.
83	83
84		-Ex: #5CO-50<cr>
	101	+Ex: #5CSR20<cr> sets the maximum speed for servo #5 to 20rpm upon RESET (explained below).
85	85
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.
	103	+After RESET: #5SR4<cr> sets the session's speed to 4rpm.
87	87
88		-Configuration commands are not cumulative, in that if two configurations are sent at any time, only the last configuration is used and stored.
	105	+#5QSR<cr> would return *5QSR4<cr> which represents the value for that session.
89	89
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.
	107	+#5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
	108	+)))
91	91
92	92	= Command List =
93	93
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343	343
344	344	__17. Identification Number__
345	345
346		-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.
	364	+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.
347	347
348	348	Query Identification (**QID**)
349	349
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359	359
360	360	__18. Baud Rate__
361	361
362		-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
	380	+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: 9600; 19200; 38400; 57600; 115200 bits per second. Servos are shipped with a baud rate set to 9600. The baud rates are currently restricted to those above
363	363
364	364	Query Baud Rate (**QB**)
365	365