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Parent

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1		-lynxmotion-smart-servo.WebHome
	1	+Lynxmotion Smart Servo (LSS).WebHome

Author

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

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
...	...	@@ -13,10 +13,6 @@
13	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 #1: For a given session, the action related to a specific commands overrides the stored value in EEPROM.
17		-Note #2: During the power-on / reset process the LSS cannot accept commands for a small amount of time (1.25 s).
18		-You can ensure the LSS is ready by using a query command to check for response (ex: #[id]Q\r or #[id]QID\r). If the LSS is ready for commands (initialized) it will respond to the query. A timeout between 50-100 ms is recommended.
19		-
20	20	== Action Commands ==
21	21
22	22	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:
...	...	@@ -49,6 +49,20 @@
49	49	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.
50	50	)))
51	51
	48	+== Configuration Commands ==
	49	+
	50	+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 (see each command for details). Not all action commands have a corresponding configuration 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:
	51	+
	52	+1. Start with a number sign # (U+0023)
	53	+1. Servo ID number as an integer
	54	+1. Configuration command (two to three letters, no spaces, capital or lower case)
	55	+1. Configuration value in the correct units with no decimal
	56	+1. End with a control / carriage return '<cr>'
	57	+
	58	+Ex: #5CO-50<cr>
	59	+
	60	+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.
	61	+
52	52	== Query Commands ==
53	53
54	54	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:
...	...	@@ -79,20 +79,6 @@
79	79
80	80	This indicates that servo #5 is currently at 144.3 degrees (1443 tenths of degrees).
81	81
82		-== Configuration Commands ==
83		-
84		-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:
85		-
86		-1. Start with a number sign # (U+0023)
87		-1. Servo ID number as an integer
88		-1. Configuration command (two to three letters, no spaces, capital or lower case)
89		-1. Configuration value in the correct units with no decimal
90		-1. End with a control / carriage return '<cr>'
91		-
92		-Ex: #5CO-50<cr>
93		-
94		-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.
95		-
96	96	**Session vs Configuration Query**
97	97
98	98	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:
...	...	@@ -130,76 +130,71 @@
130	130
131	131	= Command List =
132	132
133		-== Regular ==
134		-
135		-|= #|=Description|=Mod|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
136		-| 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| | L| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
137		-| 2|[[**H**alt & **H**old>>||anchor="H2.Halt26Hold28H29"]]| | H| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
138		-| 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" %)
139		-| 4|[[**S**peed>>||anchor="H4.Speed28S29modifier"]]|S| |QS| | | | ✓|microseconds per second|(% style="width:510px" %) Modifier only {P}|(% style="text-align:center; width:113px" %)
140		-| 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" %)
141		-| 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" %)(((
	129	+|= #|=Description|= Action|= Query|= Config|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
	130	+| 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| L| | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	131	+| 2|[[**H**alt & **H**old>>||anchor="H2.Halt26Hold28H29"]]| H| | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	132	+| 3|[[**T**imed move>>||anchor="H3.Timedmove28T29"]]| T| | | | ✓|milliseconds|(% style="width:510px" %) Modifier only for {P, D, MD}|(% style="text-align:center; width:113px" %)
	133	+| 4|[[**S**peed>>||anchor="H4.Speed28S29"]]| S| | | | ✓|microseconds per second|(% style="width:510px" %) Modifier only {P}|(% style="text-align:center; width:113px" %)
	134	+| 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" %)
	135	+| 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" %)(((
142	142	0
143	143	)))
144		-| 7|[[**A**ngular **R**ange>>||anchor="H7.AngularRange28AR29"]]| | AR| QAR| CAR|✓| ✓| ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
	138	+| 7|[[**A**ngular **R**ange>>||anchor="H7.AngularRange28AR29"]]| AR| QAR| CAR| ✓| ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
145	145	1800
146	146	)))
147		-| 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| | P| QP| | | | ✓|microseconds|(% style="width:510px" %)(((
	141	+| 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| P| QP| | | ✓|microseconds|(% style="width:510px" %)(((
148	148	Inherited from SSC-32 serial protocol
149	149	)))|(% style="text-align:center; width:113px" %)
150		-| 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| | D| QD / QDT| | | | ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
151		-| 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" %)
152		-| 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" %)
153		-| 12|[[Max **S**peed in **D**egrees>>||anchor="H12.MaxSpeedinDegrees28SD29"]]| | SD| QSD|CSD|✓| ✓| ✓|degrees per second (°/s)|(% style="width:510px" %)(((
	144	+| 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD| | | ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	145	+| 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" %)
	146	+| 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" %)
	147	+| 12|[[Max **S**peed in **D**egrees>>||anchor="H12.SpeedinDegrees28SD29"]]| SD| QSD|CSD| ✓| ✓|tenths of degrees per second |(% style="width:510px" %)(((
154	154	QSD: Add modifier "2" for instantaneous speed.
155	155
156	156	SD overwrites SR / CSD overwrites CSR and vice-versa.
157	157	)))|(% style="text-align:center; width:113px" %)Max per servo
158		-| 13|[[Max **S**peed in **R**PM>>||anchor="H13.MaxSpeedinRPM28SR29"]]| | SR| QSR|CSR|✓| ✓| ✓|revolutions per minute (rpm)|(% style="width:510px" %)(((
	152	+| 13|[[Max **S**peed in **R**PM>>||anchor="H13.SpeedinRPM28SR29"]]| SR| QSR|CSR| ✓| ✓|revolutions per minute (rpm)|(% style="width:510px" %)(((
159	159	QSR: Add modifier "2" for instantaneous speed
160	160
161	161	SR overwrites SD / CSR overwrites CSD and vice-versa.
162	162	)))|(% style="text-align:center; width:113px" %)Max per servo
163		-| 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)
164		-| 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
165		-| 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
166		-| 17|[[**B**aud rate>>||anchor="H17.BaudRate"]]| | | QB| CB| | | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)115200
167		-| 18|//{coming soon}//| | | | | | | | |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
168		-
	157	+| 16|[[**LED** Color>>||anchor="H16.RGBLED28LED29"]]| 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
	158	+| 17|[[**ID** #>>||anchor="H17.IdentificationNumber"]]| | 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
	159	+| 18|[[**B**aud rate>>||anchor="H18.BaudRate"]]| B| QB| CB| | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)9600
	160	+| 19|[[**G**yre direction (**G**)>>||anchor="H19.GyreRotationDirection"]]| G| QG| CG| ✓| ✓|none |(% style="width:510px" %)Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise)|(% style="text-align:center; width:113px" %)1
	161	+| 20|[[**F**irst Position (**P**ulse)>>||anchor="H20.First2InitialPosition28pulse29"]]| | QFP|CFP | ✓| ✓|none |(% style="width:510px" %)CFP overwrites CFD and vice-versa|(% style="text-align:center; width:113px" %)(((
	162	+Limp
169	169	)))
170		-| 19|[[**F**irst Position (**D**eg)>>||anchor="H19.FirstA0Position28Degrees29"]]| | | QFD|CFD|X| ✓| ✓|none |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)No Value
171		-| 20|[[**M**odel **S**tring>>||anchor="H20.QueryModelString28QMS29"]]| | | QMS| | | | |none (string)|(% style="width:510px" %) Returns the type of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)|(% style="text-align:center; width:113px" %)
172		-| 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" %)
173		-| 22|[[**F**irmware version>>||anchor="H22.QueryFirmware28QF29"]]| | | QF| | | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
174		-| 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" %)
175		-| 24|[[**V**oltage>>||anchor="H24.QueryVoltage28QV29"]]| | | QV| | | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
176		-| 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" %)
177		-| 26|[[**C**urrent>>||anchor="H26.QueryCurrent28QC29"]]| | | QC| | | | ✓|milliamps (ex 200 = 0.2A)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
178		-| 27|[[**C**hange to** RC**>>||anchor="H27.ConfigureRCMode28CRC29"]]| | | |CRC|✓| | ✓|none|(% style="width:510px" %)(((
179		-Change to RC mode 1 (position) or 2 (wheel).
	164	+| 21|[[**F**irst Position (**D**egrees)>>||anchor="H21.First2InitialPosition28Degrees29"]]| | QFD|CFD| ✓| ✓|none |(% style="width:510px" %)CFD overwrites CFP and vice-versa|(% style="text-align:center; width:113px" %)Limp
	165	+| 22|[[**T**arget (**D**egree) **P**osition>>||anchor="H22.QueryTargetPositioninDegrees28QDT29"]]| | QDT| | | ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	166	+| 23|[[**M**odel **S**tring>>||anchor="H23.QueryModelString28QMS29"]]| | QMS| | | |none (string)|(% style="width:510px" %) Returns the type of servo (ST, HS, HT)|(% style="text-align:center; width:113px" %)
	167	+| 24|[[Serial **N**umber>>||anchor="H24.QuerySerialNumber28QN29"]]| | QN| | | |none (integer)|(% style="width:510px" %) Returns the unique serial number for that servo|(% style="text-align:center; width:113px" %)
	168	+| 25|[[**F**irmware version>>||anchor="H25.QueryFirmware28QF29"]]| | QF| | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	169	+| 26|[[**Q**uery (general status)>>||anchor="H26.QueryStatus28Q29"]]| | Q| | | ✓|none (integer from 1 to 8)|(% style="width:510px" %) See command description for details|(% style="text-align:center; width:113px" %)
	170	+| 27|[[**V**oltage>>||anchor="H27.QueryVoltage28QV29"]]| | QV| | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	171	+| 28|[[**T**emperature>>||anchor="H28.QueryTemperature28QT29"]]| | QT| | | ✓|tenths of degrees Celsius|(% style="width:510px" %)Max temp before error: 85°C (servo goes limp)|(% style="text-align:center; width:113px" %)
	172	+| 29|[[**C**urrent>>||anchor="H29.QueryCurrent28QC29"]]| | QC| | | ✓|milliamps (ex 200 = 0.2A)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	173	+| 30a|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]] - Position| | |CRC1| | ✓|none|(% style="width:510px" %)(((
	174	+Puts the servo into RC mode. To revert to smart mode, use the button menu.
180	180	)))|(% style="text-align:center; width:113px" %)Serial
181		-| 28|[[**RESET**>>||anchor="H28.RESET"]]| | | | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %)
182		-| 29|[[**DEFAULT**>>||anchor="H29.DEFAULTA026CONFIRM"]]| | | | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %)
183		-| 30|[[**UPDATE**>>||anchor="H30.UPDATEA026CONFIRM"]]| | | | | | |✓|none|(% style="width:510px" %)Update firmware. See command for details.|(% style="text-align:center; width:113px" %)
	176	+| 30b|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]] - Wheel| | |CRC2| | ✓| |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	177	+| 31|[[**RESET**>>||anchor="H31.RESET"]]| | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %)
	178	+| 32|[[**DEFAULT**>>||anchor="H32.DEFAULTA026CONFIRM"]]| | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %)
	179	+| 33|[[**UPDATE**>>||anchor="H33.UPDATEA026CONFIRM"]]| | | | |✓|none|(% style="width:510px" %)Update firmware. See command for details.|(% style="text-align:center; width:113px" %)
184	184
185	185	== Advanced ==
186	186
187		-|= #|=(% 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
188		-| 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
189		-| 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
190		-| 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
191		-| 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
192		-| 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
193		-| 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" %)(((
194		-0=No blinking, 63=Always blink;
	183	+|= #|=Description|= Action|= Query|= Config|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
	184	+| 1|[[**A**ngular **S**tiffness>>||anchor="H14.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
	185	+| 2|[[**A**ngular **H**olding Stiffness>>||anchor="H15.AngularHoldStiffness28AH29"]]|AH|QAH|CAH| | ✓|none (integer -10 to +10)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)1
	186	+| 3|[[**A**ngular **A**cceleration>>||anchor="H15b:AngularAcceleration28AA29"]]|AA|QAA|CAA| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared|(% style="text-align:center; width:113px" %)
	187	+| 4|[[**A**ngular **D**eceleration>>||anchor="H15c:AngularDeceleration28AD29"]]|AD|QAD|CAD| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared|(% style="text-align:center; width:113px" %)
	188	+| 5|[[**E**nable **M**otion Control>>||anchor="H15d:MotionControl28MC29"]]|EM|QEM| | | ✓|none|(% style="width:510px" %)EM0 to disable motion control, EM1 to enable|(% style="text-align:center; width:113px" %)
	189	+| 6|[[**C**onfigure **L**ED **B**linking>>||anchor="H16b.ConfigureLEDBlinking28CLB29"]]| | | CLB| ✓| |none (integer from 0 to 63)|(% style="width:510px" %)0=No blinking, ; 63=Always blink; Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;|(% style="text-align:center; width:113px" %)
	190	+| | | | | | | | |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
195	195
196		-Blink while: 1=Limp; 2=Holding; 4=Accel; 8=Decel; 16=Free 32=Travel;
197		-)))
198		-| 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" %)Modifier for D, MD, WD, WR
199		-| A8|(% style="width:182px" %)[[**C**urrent **L**imp>>||anchor="HA8.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" %)Modifier for D, MD, WD, WR
	192	+== Details ==
200	200
201		-== Details - Basic ==
202		-
203	203	====== __1. Limp (**L**)__ ======
204	204
205	205	Example: #5L<cr>
...	...	@@ -210,28 +210,22 @@
210	210
211	211	Example: #5H<cr>
212	212
213		-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.
	204	+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.
214	214
215		-====== __3. Timed move (**T**) modifier__ ======
	206	+====== __3. Timed move (**T**)__ ======
216	216
217	217	Example: #5P1500T2500<cr>
218	218
219		-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.
	210	+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.
220	220
221	221	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.
222	222
223		-====== __4. Speed (**S**) modifier__ ======
	214	+====== __4. Speed (**S**)__ ======
224	224
225	225	Example: #5P1500S750<cr>
226	226
227	227	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.
228	228
229		-Query Speed (**QS**)
230		-
231		-Example: #5QS<cr> might return *5QS300<cr>
232		-
233		-This command queries the current speed in microseconds per second.
234		-
235	235	====== __5. (Relative) Move in Degrees (**MD**)__ ======
236	236
237	237	Example: #5MD123<cr>
...	...	@@ -242,11 +242,11 @@
242	242
243	243	Example: #5O2400<cr>
244	244
245		-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).
	230	+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).
246	246
247	247	[[image:LSS-servo-default.jpg]]
248	248
249		-In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
	234	+In the second image, the origina, as well as the angular range (explained below) have been shifted by 240.0 degrees:
250	250
251	251	[[image:LSS-servo-origin.jpg]]
252	252
...	...	@@ -254,33 +254,33 @@
254	254
255	255	Example: #5QO<cr> Returns: *5QO-13
256	256
257		-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.
	242	+This allows you to query the angle (in tenths of degrees) of the origin in relation to the factory zero position.
258	258
259	259	Configure Origin Offset (**CO**)
260	260
261	261	Example: #5CO-24<cr>
262	262
263		-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.
	248	+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.
264	264
265	265	====== __7. Angular Range (**AR**)__ ======
266	266
267	267	Example: #5AR1800<cr>
268	268
269		-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:
	254	+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,
270	270
271	271	[[image:LSS-servo-default.jpg]]
272	272
273		-Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
	258	+Here, the angular range has been restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
274	274
275	275	[[image:LSS-servo-ar.jpg]]
276	276
277		-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:
	262	+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:
278	278
279	279	[[image:LSS-servo-ar-o-1.jpg]]
280	280
281	281	Query Angular Range (**QAR**)
282	282
283		-Example: #5QAR<cr> might return *5AR1800, indicating the total angular range is 180.0 degrees.
	268	+Example: #5QAR<cr> might return *5AR2756
284	284
285	285	Configure Angular Range (**CAR**)
286	286
...	...	@@ -290,7 +290,7 @@
290	290
291	291	Example: #5P2334<cr>
292	292
293		-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.
	278	+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.
294	294
295	295	Query Position in Pulse (**QP**)
296	296
...	...	@@ -301,7 +301,7 @@
301	301
302	302	====== __9. Position in Degrees (**D**)__ ======
303	303
304		-Example: #5D1456<cr>
	289	+Example: #5PD1456<cr>
305	305
306	306	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.
307	307
...	...	@@ -313,13 +313,6 @@
313	313
314	314	This means the servo is located at 13.2 degrees.
315	315
316		-(% class="wikigeneratedid" id="H22.QueryTargetPositioninDegrees28QDT29" %)
317		-Query Target Position in Degrees (**QDT**)
318		-
319		-Ex: #5QDT<cr> might return *5QDT6783<cr>
320		-
321		-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>).
322		-
323	323	====== __10. Wheel Mode in Degrees (**WD**)__ ======
324	324
325	325	Ex: #5WD900<cr>
...	...	@@ -344,22 +344,22 @@
344	344
345	345	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).
346	346
347		-====== __12. Max Speed in Degrees (**SD**)__ ======
	325	+====== __12. Speed in Degrees (**SD**)__ ======
348	348
349	349	Ex: #5SD1800<cr>
350	350
351		-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.
	329	+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.
352	352
353	353	Query Speed in Degrees (**QSD**)
354	354
355	355	Ex: #5QSD<cr> might return *5QSD1800<cr>
356	356
357		-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.
	335	+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.
358	358	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:
359	359
360	360	|**Command sent**|**Returned value (1/10 °)**
361	361	|ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
362		-|ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
	340	+|ex: #5QSD1<cr>|Configured maximum speed  (set by CSD/CSR)
363	363	|ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
364	364	|ex: #5QSD3<cr>|Target travel speed
365	365
...	...	@@ -369,22 +369,22 @@
369	369
370	370	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.
371	371
372		-====== __13. Max Speed in RPM (**SR**)__ ======
	350	+====== __13. Speed in RPM (**SR**)__ ======
373	373
374	374	Ex: #5SD45<cr>
375	375
376		-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.
	354	+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.
377	377
378	378	Query Speed in Degrees (**QSR**)
379	379
380	380	Ex: #5QSR<cr> might return *5QSR45<cr>
381	381
382		-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.
	360	+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.
383	383	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:
384	384
385	385	|**Command sent**|**Returned value (1/10 °)**
386	386	|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
387		-|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
	365	+|ex: #5QSR1<cr>|Configured maximum speed  (set by CSD/CSR)
388	388	|ex: #5QSR2<cr>|Instantaneous speed (same as QWR)
389	389	|ex: #5QSR3<cr>|Target travel speed
390	390
...	...	@@ -392,344 +392,288 @@
392	392
393	393	Ex: #5CSR45<cr>
394	394
395		-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.
	373	+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.
396	396
397		-====== __14. LED Color (**LED**)__ ======
	375	+====== __14. Angular Stiffness (**AS**)__ ======
398	398
399		-Ex: #5LED3<cr>
	377	+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.
400	400
401		-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.
	379	+A positive value of "angular stiffness":
402	402
403		-0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;
	381	+* The more torque will be applied to try to keep the desired position against external input / changes
	382	+* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
404	404
405		-Query LED Color (**QLED**)
	384	+A negative value on the other hand:
406	406
407		-Ex: #5QLED<cr> might return *5QLED5<cr>
	386	+* Causes a slower acceleration to the travel speed, and a slower deceleration
	387	+* Allows the target position to deviate more from its position before additional torque is applied to bring it back
408	408
409		-This simple query returns the indicated servo's LED color.
	389	+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.
410	410
411		-Configure LED Color (**CLED**)
	391	+Ex: #5AS-2<cr>
412	412
413		-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.
	393	+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.
414	414
415		-====== __15. Gyre Rotation Direction (**G**)__ ======
	395	+Ex: #5QAS<cr>
416	416
417		-"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).
	397	+Queries the value being used.
418	418
419		-Ex: #5G-1<cr>
	399	+Ex: #5CAS<cr>
420	420
421		-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.
	401	+Writes the desired angular stiffness value to memory.
422	422
423		-Query Gyre Direction (**QG**)
	403	+====== __15. Angular Hold Stiffness (**AH**)__ ======
424	424
425		-Ex: #5QG<cr> might return *5QG-1<cr>
	405	+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.
426	426
427		-The value returned above means the servo is in a counter-clockwise gyration.
	407	+Ex: #5AH3<cr>
428	428
429		-Configure Gyre (**CG**)
	409	+This sets the holding stiffness for servo #5 to 3 for that session.
430	430
431		-Ex: #5CG-1<cr>
	411	+Query Angular Hold Stiffness (**QAH**)
432	432
433		-This changes the gyre direction as described above and also writes to EEPROM.
	413	+Ex: #5QAH<cr> might return *5QAH3<cr>
434	434
435		-====== __16. Identification Number (**ID**)__ ======
	415	+This returns the servo's angular holding stiffness value.
436	436
437		-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).
	417	+Configure Angular Hold Stiffness (**CAH**)
438	438
439		-Query Identification (**QID**)
	419	+Ex: #5CAH2<cr>
440	440
441		-EX: #254QID<cr> might return *QID5<cr>
	421	+This writes the angular holding stiffness of servo #5 to 2 to EEPROM
442	442
443		-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.
	423	+====== __15b: Angular Acceleration (**AA**)__ ======
444	444
445		-Configure ID (**CID**)
	425	+{More details to come}
446	446
447		-Ex: #4CID5<cr>
	427	+====== __15c: Angular Deceleration (**AD**)__ ======
448	448
449		-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.
	429	+{More details to come}
450	450
451		-====== __17. Baud Rate__ ======
	431	+====== __15d: Motion Control (**EM**)__ ======
452	452
453		-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 115200. The baud rates are currently restricted to those above.
	433	+{More details to come}
454	454
455		-Query Baud Rate (**QB**)
	435	+====== __16. RGB LED (**LED**)__ ======
456	456
457		-Ex: #5QB<cr> might return *5QB115200<cr>
	437	+Ex: #5LED3<cr>
458	458
459		-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.
	439	+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.
460	460
461		-Configure Baud Rate (**CB**)
	441	+0=OFF 1=RED 2=GREEN 3= BLUE 4=YELLOW 5=CYAN 6= 7=MAGENTA, 8=WHITE
462	462
463		-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.
	443	+Query LED Color (**QLED**)
464	464
465		-Ex: #5CB9600<cr>
	445	+Ex: #5QLED<cr> might return *5QLED5<cr>
466	466
467		-Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
	447	+This simple query returns the indicated servo's LED color.
468	468
469		-====== __18. {//Coming soon//}__ ======
	449	+Configure LED Color (**CLED**)
470	470
471		-Command coming soon....
	451	+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.
472	472
473		-====== __19. First Position (Degrees)__ ======
	453	+====== __16b. Configure LED Blinking (**CLB**)__ ======
474	474
475		-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.
	455	+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).
	456	+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;
476	476
477		-Query First Position in Degrees (**QFD**)
	458	+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:
478	478
479		-Ex: #5QFD<cr> might return *5QFD64<cr>
	460	+Ex: #5CLB0<cr> to turn off all blinking (LED always solid)
	461	+Ex: #5CLB1<cr> only blink when limp
	462	+Ex: #5CLB2<cr> only blink when holding
	463	+Ex: #5CLB12<cr> only blink when accel or decel
	464	+Ex: #5CLB48<cr> only blink when free or travel
	465	+Ex: #5CLB63<cr> blink in all status
480	480
481		-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
	467	+====== __17. Identification Number__ ======
482	482
483		-Configure First Position in Degrees (**CFD**)
	469	+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.
484	484
485		-Ex: #5CD64<cr>
	471	+Query Identification (**QID**)
486	486
487		-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>
	473	+EX: #254QID<cr> might return *QID5<cr>
488	488
489		-====== __20. Query Model String (**QMS**)__ ======
	475	+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.
490	490
491		-Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
	477	+Configure ID (**CID**)
492	492
493		-This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
	479	+Ex: #4CID5<cr>
494	494
495		-====== __21. Query Serial Number (**QN**)__ ======
	481	+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.
496	496
497		-Ex: #5QN<cr> might return *5QN12345678<cr>
	483	+====== __18. Baud Rate__ ======
498	498
499		-The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
	485	+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.
	486	+\*: 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.
500	500
501		-====== __22. Query Firmware (**QF**)__ ======
	488	+Query Baud Rate (**QB**)
502	502
503		-Ex: #5QF<cr> might return *5QF411<cr>
	490	+Ex: #5QB<cr> might return *5QB9600<cr>
504	504
505		-The number in the reply represents the firmware version, in this example being 411.
	492	+Querying the baud rate is used simply to confirm the CB configuration command before the servo is power cycled.
506	506
507		-====== __23. Query Status (**Q**)__ ======
	494	+Configure Baud Rate (**CB**)
508	508
509		-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.
	496	+Important Note: the servo's current session retains the given baud rate and the new baud rate will only be in place when the servo is power cycled.
510	510
511		-Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
	498	+Ex: #5CB9600<cr>
512	512
513		-|***Value returned (Q)**|**Status**|**Detailed description**
514		-|ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
515		-|ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely
516		-|ex: *5Q2<cr>|2: Free moving|Motor driving circuit is not powered and horn can be moved freely
517		-|ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
518		-|ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
519		-|ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
520		-|ex: *5Q6<cr>|6: Holding|Keeping current position
521		-|ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
522		-|ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
523		-|ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
524		-|ex: *5Q10<cr>|10: Safe Mode|(((
525		-A safety limit has been exceeded (temperature, peak current or extended high current draw).
	500	+Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
526	526
527		-Send a Q1 command to know which limit has been reached (described below).
528		-)))
	502	+====== __19. Gyre Rotation Direction__ ======
529	529
530		-(% class="wikigeneratedid" %)
531		-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.
	504	+"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).
532	532
533		-|***Value returned (Q1)**|**Status**|**Detailed description**
534		-|ex: *5Q0<cr>|No limits have been passed|Nothing is wrong
535		-|ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
536		-|ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
537		-|ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
	506	+{images showing before and after with AR and Origin offset}
538	538
539		-====== __24. Query Voltage (**QV**)__ ======
	508	+Query Gyre Direction (**QG**)
540	540
541		-Ex: #5QV<cr> might return *5QV11200<cr>
	510	+Ex: #5QG<cr> might return *5QG-1<cr>
542	542
543		-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).
	512	+The value returned above means the servo is in a counter-clockwise gyration.
544	544
545		-====== __25. Query Temperature (**QT**)__ ======
	514	+Configure Gyre (**CG**)
546	546
547		-Ex: #5QT<cr> might return *5QT564<cr>
	516	+Ex: #5CG-1<cr>
548	548
549		-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.
	518	+This changes the gyre direction as described above and also writes to EEPROM.
550	550
551		-====== __26. Query Current (**QC**)__ ======
	520	+====== __20. First / Initial Position (pulse)__ ======
552	552
553		-Ex: #5QC<cr> might return *5QC140<cr>
	522	+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.
554	554
555		-The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
	524	+Query First Position in Pulses (**QFP**)
556	556
557		-====== __27. Configure RC Mode (**CRC**)__ ======
	526	+Ex: #5QFP<cr> might return *5QFP1550<cr>
558	558
559		-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.
	528	+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").
560	560
561		-|**Command sent**|**Note**
562		-|ex: #5CRC1<cr>|Change to RC position mode.
563		-|ex: #5CRC2<cr>|Change to RC continuous (wheel) mode.
564		-|ex: #5CRC*<cr>|Where * is any number or value other than 1 or 2 (or no value): stay in smart mode.
	530	+Configure First Position in Pulses (**CFP**)
565	565
566		-EX: #5CRC2<cr>
	532	+Ex: #5CP1550<cr>
567	567
568		-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.
	534	+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).
569	569
570		-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.
	536	+====== __21. First / Initial Position (Degrees)__ ======
571	571
572		-====== __28. **RESET**__ ======
	538	+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.
573	573
574		-Ex: #5RESET<cr> or #5RS<cr>
	540	+Query First Position in Degrees (**QFD**)
575	575
576		-This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
577		-Note: after a RESET command is received the LSS will restart and perform initilization again, making it unavailable on the bus for a bit. See [[Session>>||anchor="HSession"]], note #2 for more details.
	542	+Ex: #5QFD<cr> might return *5QFD64<cr>
578	578
579		-====== __29. **DEFAULT** & CONFIRM__ ======
	544	+The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds.
580	580
581		-Ex: #5DEFAULT<cr>
	546	+Configure First Position in Degrees (**CFD**)
582	582
583		-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.
	548	+Ex: #5CD64<cr>
584	584
585		-EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
	550	+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.
586	586
587		-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.
	552	+====== __22. Query Target Position in Degrees (**QDT**)__ ======
588	588
589		-Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
	554	+Ex: #5QDT<cr> might return *5QDT6783<cr>
590	590
591		-====== __30. **UPDATE** & CONFIRM__ ======
	556	+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>).
592	592
593		-Ex: #5UPDATE<cr>
	558	+====== __23. Query Model String (**QMS**)__ ======
594	594
595		-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.
	560	+Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
596	596
597		-EX: #5UPDATE<cr> followed by #5CONFIRM<cr>
	562	+This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
598	598
599		-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.
	564	+====== __23b. Query Model (**QM**)__ ======
600	600
601		-Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
	566	+Ex: #5QM<cr> might return *5QM68702699520cr>
602	602
603		-== Details - Advanced ==
	568	+This reply means the servo model is 0xFFF000000 or 100, meaning a high speed servo, first revision.
604	604
605		-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.
	570	+====== __24. Query Serial Number (**QN**)__ ======
606	606
607		-====== __A1. Angular Stiffness (**AS**)__ ======
	572	+Ex: #5QN<cr> might return *5QN~_~_<cr>
608	608
609		-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.
	574	+The number in the response is the servo's serial number which is set and cannot be changed.
610	610
611		-A positive value of "angular stiffness":
	576	+====== __25. Query Firmware (**QF**)__ ======
612	612
613		-* The more torque will be applied to try to keep the desired position against external input / changes
614		-* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
	578	+Ex: #5QF<cr> might return *5QF11<cr>
615	615
616		-A negative value on the other hand:
	580	+The integer in the reply represents the firmware version with one decimal, in this example being 1.1
617	617
618		-* Causes a slower acceleration to the travel speed, and a slower deceleration
619		-* Allows the target position to deviate more from its position before additional torque is applied to bring it back
	582	+====== __26. Query Status (**Q**)__ ======
620	620
621		-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.
	584	+Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
622	622
623		-Ex: #5AS-2<cr>
	586	+|*Value returned|**Status**|**Detailed description**
	587	+|ex: *5Q0<cr>|Unknown|LSS is unsure
	588	+|ex: *5Q1<cr>|Limp|Motor driving circuit is not powered and horn can be moved freely
	589	+|ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
	590	+|ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
	591	+|ex: *5Q4<cr>|Traveling|Moving at a stable speed
	592	+|ex: *5Q5<cr>|Decelerating|Decreasing from travel speed towards final position.
	593	+|ex: *5Q6<cr>|Holding|Keeping current position
	594	+|ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque
	595	+|ex: *5Q8<cr>|Outside limits|{More details coming soon}
	596	+|ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting
	597	+|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
624	624
625		-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.
	599	+====== __27. Query Voltage (**QV**)__ ======
626	626
627		-Ex: #5QAS<cr>
	601	+Ex: #5QV<cr> might return *5QV11200<cr>
628	628
629		-Queries the value being used.
	603	+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).
630	630
631		-Ex: #5CAS<cr>
	605	+====== __28. Query Temperature (**QT**)__ ======
632	632
633		-Writes the desired angular stiffness value to memory.
	607	+Ex: #5QT<cr> might return *5QT564<cr>
634	634
635		-====== __A2. Angular Holding Stiffness (**AH**)__ ======
	609	+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.
636	636
637		-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.
	611	+====== __29. Query Current (**QC**)__ ======
638	638
639		-Ex: #5AH3<cr>
	613	+Ex: #5QC<cr> might return *5QC140<cr>
640	640
641		-This sets the holding stiffness for servo #5 to 3 for that session.
	615	+The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
642	642
643		-Query Angular Hold Stiffness (**QAH**)
	617	+====== __30. RC Mode (**CRC**)__ ======
644	644
645		-Ex: #5QAH<cr> might return *5QAH3<cr>
	619	+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.
646	646
647		-This returns the servo's angular holding stiffness value.
	621	+|**Command sent**|**Note**
	622	+|ex: #5CRC<cr>|Stay in smart mode.
	623	+|ex: #5CRC1<cr>|Change to RC position mode.
	624	+|ex: #5CRC2<cr>|Change to RC continuous (wheel) mode.
	625	+|ex: #5CRC*<cr>|Where * is any number or value. Stay in smart mode.
648	648
649		-Configure Angular Hold Stiffness (**CAH**)
	627	+EX: #5CRC<cr>
650	650
651		-Ex: #5CAH2<cr>
	629	+====== __31. RESET__ ======
652	652
653		-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	+Ex: #5RESET<cr> or #5RS<cr>
654	654
655		-====== __A3: Angular Acceleration (**AA**)__ ======
	633	+This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
656	656
657		-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	+====== __32. DEFAULT & CONFIRM__ ======
658	658
659		-Ex: #5AA30<cr>
	637	+Ex: #5DEFAULT<cr>
660	660
661		-Query Angular Acceleration (**QAD**)
	639	+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.
662	662
663		-Ex: #5QA<cr> might return *5QA30<cr>
	641	+EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
664	664
665		-Configure Angular Acceleration (**CAD**)
	643	+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.
666	666
667		-Ex: #5CA30<cr>
	645	+Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
668	668
669		-====== __A4: Angular Deceleration (**AD**)__ ======
	647	+====== __33. UPDATE & CONFIRM__ ======
670	670
671		-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.
	649	+Ex: #5UPDATE<cr>
672	672
673		-Ex: #5AD8<cr>
	651	+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.
674	674
675		-Query Angular Deceleration (**QAD**)
	653	+EX: #5UPDATE<cr> followed by #5CONFIRM<cr>
676	676
677		-Ex: #5QD<cr> might return *5QD8<cr>
	655	+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.
678	678
679		-Configure Angular Deceleration (**CAD**)
680		-
681		-Ex: #5CD8<cr>
682		-
683		-====== __A5: Motion Control (**EM**)__ ======
684		-
685		-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.
686		-
687		-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.
688		-
689		-====== __A6. Configure LED Blinking (**CLB**)__ ======
690		-
691		-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:
692		-
693		-(% style="width:195px" %)
694		-|(% style="width:134px" %)**Blink While:**|(% style="width:58px" %)**#**
695		-|(% style="width:134px" %)No blinking|(% style="width:58px" %)0
696		-|(% style="width:134px" %)Limp|(% style="width:58px" %)1
697		-|(% style="width:134px" %)Holding|(% style="width:58px" %)2
698		-|(% style="width:134px" %)Accelerating|(% style="width:58px" %)4
699		-|(% style="width:134px" %)Decelerating|(% style="width:58px" %)8
700		-|(% style="width:134px" %)Free|(% style="width:58px" %)16
701		-|(% style="width:134px" %)Travelling|(% style="width:58px" %)32
702		-|(% style="width:134px" %)Always blink|(% style="width:58px" %)63
703		-
704		-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:
705		-
706		-Ex: #5CLB0<cr> to turn off all blinking (LED always solid)
707		-Ex: #5CLB1<cr> only blink when limp (1)
708		-Ex: #5CLB2<cr> only blink when holding (2)
709		-Ex: #5CLB12<cr> only blink when accel or decel (accel 4 + decel 8 = 12)
710		-Ex: #5CLB48<cr> only blink when free or travel (free 16 + travel 32 = 48)
711		-Ex: #5CLB63<cr> blink in all status (1 + 2 + 4 + 8 + 16 + 32)
712		-
713		-RESETTING the servo is needed.
714		-
715		-====== __A7. Current Halt & Hold (**CH**)__ ======
716		-
717		-This modifier, released in firmware v367, can be added to the following actions: D; MD; WD; WR.
718		-
719		-Ex: #5D1423CH400<cr>
720		-
721		-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.
722		-
723		-====== __A8. Current Limp (**CL**)__ ======
724		-
725		-This modifier, released in firmware v367, can be added to the following actions: D; MD; WD; WR.
726		-
727		-Ex: #5D1423CH400<cr>
728		-
729		-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.
730		-
731		-= RGB LED Patterns =
732		-
733		-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]]
734		-
735		-[[image:LSS - LED Patterns.png]]
	657	+Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.

LSS - LED Patterns.png

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