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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.ENantel

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	+= Protocol Concepts =
7	7
8		-The custom Lynxmotion Smart Servo (LSS) serial protocol was created in order to be as simple and straightforward as possible from a user perspective ("human readable format"), while at the same time compact and robust yet highly versatile. The protocol was based on Lynxmotion's SSC-32 RC servo controller and almost everything one might expect to be able to configure for a smart servo motor is available.
	8	+The Lynxmotion Smart Servo (LSS) protocol was created in order to be as simple and straightforward as possible from a user perspective, while at the same time trying to stay compact and robust yet highly versatile. Almost everything one might expect to be able to configure for a smart servo motor is available.
9	9
10		-In order to have servos react differently when commands are sent to all servos in a serial bus, the first step a user should take is to assign a different ID number to each servo (explained below). Once this has been done, only the servo(s) which have been assigned to the ID sent as part of the command will follow that command. There is currently no CRC / checksum implemented as part of the protocol.
11		-
12	12	== Session ==
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		-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:
	16	+Action commands are sent serially to the servo's Rx pin and must be set in the following format:
23	23
24	24	1. Start with a number sign # (U+0023)
25	25	1. Servo ID number as an integer
...	...	@@ -30,11 +30,15 @@
30	30	(((
31	31	Ex: #5PD1443<cr>
32	32
33		-This sends a serial command to all servo's Rx pins which are connected to the bus and only servo(s) with ID #5 will move to a position in tenths of degrees ("PD") of 144.3 degrees. Any servo on the bus which does not have ID 5 will take no action when receiving this command.
	27	+Move servo with ID #5 to a position of 144.3 degrees.
34	34
	29	+Action commands cannot be combined with query commands, and only one action command can be sent at a time.
	30	+
	31	+Action commands are session-specific, therefore once a servo is power cycled, it will not have any "memory" of previous actions or virtual positions (as described at the bottom of this page).
	32	+
35	35	== Action Modifiers ==
36	36
37		-Only two commands can be used as action modifiers: Timed Move (T) and Speed (S) described below. Action modifiers can only be used with certain action commands. The format to include a modifier is:
	35	+Two commands can be used as action modifiers only: Timed Move and Speed. The format is:
38	38
39	39	1. Start with a number sign # (U+0023)
40	40	1. Servo ID number as an integer
...	...	@@ -46,12 +46,32 @@
46	46
47	47	Ex: #5P1456T1263<cr>
48	48
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.
	47	+Results in the servo rotating from the current angular position to a pulse position of 1456 in 1263 milliseconds.
	48	+
	49	+Action modifiers can only be used with certain commands.
50	50	)))
51	51
	52	+== Configuration Commands ==
	53	+
	54	+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 Servo (LSS).LSS - RC PWM.WebHome]].
	55	+
	56	+1. Start with a number sign # (U+0023)
	57	+1. Servo ID number as an integer
	58	+1. Configuration command (two to three letters, no spaces, capital or lower case)
	59	+1. Configuration value in the correct units with no decimal
	60	+1. End with a control / carriage return '<cr>'
	61	+
	62	+Ex: #5CO-50<cr>
	63	+
	64	+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.
	65	+
	66	+Configuration commands are not cumulative, in that if two configurations are sent at any time, only the last configuration is used and stored.
	67	+
	68	+*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.
	69	+
52	52	== Query Commands ==
53	53
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:
	72	+Query commands are sent serially to the servo's Rx pin and must be set in the following format:
55	55
56	56	1. Start with a number sign # (U+0023)
57	57	1. Servo ID number as an integer
...	...	@@ -63,61 +63,49 @@
63	63	)))
64	64
65	65	(((
66		-The query will return a serial string (almost instantaneously) via the servo's Tx pin with the following format:
	84	+The query will return a value via the Tx pin with the following format:
67	67
68		-1. Start with an asterisk * (U+002A)
	86	+1. Start with an asterisk (U+002A)
69	69	1. Servo ID number as an integer
70	70	1. Query command (one to three letters, no spaces, capital letters)
71	71	1. The reported value in the units described, no decimals.
72	72	1. End with a control / carriage return '<cr>'
73	73
74		-There is currently no option to control how fast a servo replies after it has received a query command, therefore when sending a query command to the bus, the controller should be prepared to immediately "listen" for and parse the reply. Sending multiple queries on a bus in fast succession may result in replies overlapping and giving incorrect or corrupt data. As such, the controller should receive a reply before sending a new command. A reply to the query sent above might be:
75		-
76	76	(((
77	77	Ex: *5QD1443<cr>
78	78	)))
79	79
80		-This indicates that servo #5 is currently at 144.3 degrees (1443 tenths of degrees).
	96	+Indicates that servo #5 is currently at 144.3 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		-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:
	100	+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.
99	99
100		-Ex: #5CSR20<cr> immediately sets the maximum speed for servo #5 to 20rpm (explained below) and changes the value in memory.
	102	+In order to query the value in EEPROM, add a '1' to the query command.
101	101
102		-After RESET, a command of #5SR4<cr> sets the session's speed to 4rpm, but does not change the configuration value in memory. Therefore:
	104	+Ex: #5CSR20<cr> sets the maximum speed for servo #5 to 20rpm upon RESET (explained below).
103	103
104		-#5QSR<cr> would return *5QSR4<cr> which represents the value for that session, whereas
	106	+After RESET: #5SR4<cr> sets the session's speed to 4rpm.
105	105
	108	+#5QSR<cr> would return *5QSR4<cr> which represents the value for that session.
	109	+
106	106	#5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
107	107
108	108	== Virtual Angular Position ==
109	109
110		-The ability to store a "virtual angular position" is a feature which allows for rotation beyond 360 degrees, permitting multiple rotations of the output horn, moving the center position and more. In virtual position mode, the "absolute position" would be the angle of the output shaft with respect to a 360.0 degree circle, and can be obtained by taking the modulus (with respect to 360 degrees) of the value. For example if the virtual position is reported as 15335 (or 1533.5 degrees), taking the modulus would give 93.5 degrees (3600 * 4 + 935 = 15335) as the absolute position (assuming no origin offset).
	114	+{In progress}
111	111
	116	+A "virtual position" is one which allows for multiple rotations of the output horn, moving the center position and more. The "absolute position" would be the angle of the output shaft with respect to 360.0 degrees.
	117	+
112	112	[[image:LSS-servo-positions.jpg]]
113	113
114		-In this example, the gyre direction (explained below, a.k.a. "rotation direction") is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees. The following command is sent:
	120	+Example: Gyre direction / rotation is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees.
115	115
116		-#1D-300<cr> This causes the servo to move to -30.0 degrees (green arrow)
	122	+#1D-300<cr> The servo is sent a command to move to -30.0 degrees (green arrow)
117	117
118	118	#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
119	119
120		-#1D-4200<cr> This next command rotates the servo counterclockwise to a position of -420 degrees (red arrow), which means one full rotation of 360 degrees plus 60.0 degrees (420.0 - 360.0), with a virtual position of -420.0 degrees.
	126	+#1D-4200<cr> This next command rotates the servo counterclockwise to a position of -420 degrees (red arrow), which means one full rotation of 360 degrees,  stopping at an absolute position of 60.0 degrees (420.0-360.0), with a virtual position of -420.0 degrees.
121	121
122	122	Although the final physical position would be the same as if the servo were commanded to move to -60.0 degrees, the servo is in fact at -420.0 degrees.
123	123
...	...	@@ -130,75 +130,64 @@
130	130
131	131	= Command List =
132	132
133		-== Regular ==
	139	+|= #|=Description|= Action|= Query|= Config|= RC|= Serial|= Units|= Notes|=(% style="width: 50px;" %)Default
	140	+| 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| L| | | | ✓|none| |(% style="text-align:center" %)
	141	+| 2|[[**H**alt & Hold>>||anchor="H2.Halt26Hold28H29"]]| H| | | | ✓|none| |(% style="text-align:center" %)
	142	+| 3|[[**T**imed move>>||anchor="H3.Timedmove28T29"]]| T| | | | ✓|milliseconds| Modifier only (P, D, MD)|(% style="text-align:center" %)
	143	+| 4|[[**S**peed>>||anchor="H4.Speed28S29"]]| S| | | | ✓|microseconds / second| Modifier only (P)|(% style="text-align:center" %)
	144	+| 5|[[**M**ove in **D**egrees (relative)>>||anchor="H5.28Relative29MoveinDegrees28MD29"]]| MD| | | | ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)| |(% style="text-align:center" %)
	145	+| 6|[[**O**rigin Offset>>||anchor="H6.OriginOffsetAction28O29"]]| O| QO| CO| ✓| ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)| |(% style="text-align:center" %)(((
	146	+00
134	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/SD| |QS| | | | ✓|microseconds per second / degrees per second|(% style="width:510px" %)S modifier only for {P}. SD modifier only for {D, MD}.|(% 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" %)(((
142		-0
	148	+0.0 degrees
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" %)(((
145		-1800
146		-)))
147		-| 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| | P| QP| | | | ✓|microseconds|(% style="width:510px" %)(((
148		-Inherited from SSC-32 serial protocol
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" %)(((
154		-QSD: Add modifier "2" for instantaneous speed.
	150	+| 7|[[**A**ngular **R**ange>>||anchor="H7.AngularRange28AR29"]]| AR| QAR| CAR| ✓| ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)| |(% style="text-align:center" %)(((
	151	+1800
155	155
156		-SD overwrites SR / CSD overwrites CSR and vice-versa.
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" %)(((
159		-QSR: Add modifier "2" for instantaneous speed
160		-
161		-SR overwrites SD / CSR overwrites CSD and vice-versa.
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 7)|(% 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		-
	153	+180.0 degrees
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).
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" %)
184		-
185		-== Advanced ==
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;
195		-
196		-Blink while: 1=Limp; 2=Holding; 4=Accel; 8=Decel; 16=Free 32=Travel;
	155	+| 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| P| QP| | | ✓|microseconds|(((
	156	+See details below
	157	+)))|(% style="text-align:center" %)
	158	+| 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD| | | ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)| |(% style="text-align:center" %)
	159	+| 10|[[**W**heel mode in **D**egrees>>||anchor="H10.WheelModeinDegrees28WD29"]]| WD| QWD| | | ✓|tenths of degrees per second (ex 248 = 24.8 degrees per second)|A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center" %)
	160	+| 11|[[**W**heel mode in **R**PM>>||anchor="H11.WheelModeinRPM28WR29"]]| WR| QWR| | | ✓| rpm|A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center" %)
	161	+| 12|[[Max **S**peed in **D**egrees>>||anchor="H12.SpeedinDegrees28SD29"]]| SD| QSD| CSD| ✓| ✓|tenths of degrees per second (ex 248 = 24.8 degrees per second)|QSD: Add modifier "2" for instantaneous speed|(% style="text-align:center" %)
	162	+| 13|[[Max **S**peed in **R**PM>>||anchor="H13.SpeedinRPM28SR29"]]| SR| QSR| CSR| ✓| ✓|rpm|QSR: Add modifier "2" for instantaneous speed|(% style="text-align:center" %)
	163	+| 14|[[**A**ngular **S**tiffness>>||anchor="H14.AngularStiffness28AS29"]]| AS| QAS| CAS| ✓| ✓|none|-4 to +4, but suggested values are between 0 to +4|(% style="text-align:center" %)0
	164	+| 15|[[**A**ngular **H**olding Stiffness>>||anchor="H15.AngularHoldStiffness28AH29"]]|AH|QAH|CAH| | ✓|none|-10 to +10, with default as 0. |(% style="text-align:center" %)
	165	+|15b|[[**A**ngular **A**cceleration>>||anchor="H15b:AngularAcceleration28AA29"]]|AA|QAA|CAA| | ✓|degrees per second squared|Increments of 10 degrees per second squared|(% style="text-align:center" %)
	166	+|15c|[[**A**ngular **D**eceleration>>||anchor="H15c:AngularDeceleration28AD29"]]|AD|QAD|CAD| | ✓|degrees per second squared|Increments of 10 degrees per second squared|(% style="text-align:center" %)
	167	+|15d|[[**E**nable **M**otion control>>||anchor="H15d:MotionControl28MC29"]]|EM|QEM| | | ✓|none|EM0 to disable motion control, EM1 to enable. Session specific / does not survive power cycles|(% style="text-align:center" %)
	168	+| 16|[[**LED** Color>>||anchor="H16.RGBLED28LED29"]]| LED| QLED| CLED| ✓| ✓|none (integer from 0 to 8)|0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;|(% style="text-align:center" %)7
	169	+| 16b|[[**C**onfigure **L**ED **B**linking>>||anchor="H16b.ConfigureLEDBlinking28CLB29"]]| | | CLB| ✓| |none (integer from 0 to 63)|0=No blinking, ; 63=Always blink; Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;|(% style="text-align:center" %)
	170	+| 17|[[**ID** #>>||anchor="H17.IdentificationNumber"]]| | QID| CID| | ✓|none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to|(% style="text-align:center" %)0
	171	+| 18|[[**B**aud rate>>||anchor="H18.BaudRate"]]| B| QB| CB| | ✓|none (integer)| |(% style="text-align:center" %)9600
	172	+| 19|[[**G**yre direction (**G**)>>||anchor="H19.GyreRotationDirection"]]| G| QG| CG| ✓| ✓|none | Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise)|(% style="text-align:center" %)1 Clowckwise
	173	+| 20|[[**F**irst Position (**P**ulse)>>||anchor="H20.First2InitialPosition28pulse29"]]| | QFP|CFP | ✓| ✓|none | |(% style="text-align:center" %)(((
	174	+Limp
197	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
	176	+| 21|[[**F**irst Position (**D**egrees)>>||anchor="H21.First2InitialPosition28Degrees29"]]| | QFD|CFD| ✓| ✓|none | |(% style="text-align:center" %)Limp
	177	+| 22|[[**T**arget (**D**egree) **P**osition>>||anchor="H22.QueryTargetPositioninDegrees28QDT29"]]| | QDT| | | ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)| |(% style="text-align:center" %)
	178	+| 23|[[**M**odel **S**tring>>||anchor="H23.QueryModelString28QMS29"]]| | QMS| | | |none (string)| Recommended to determine the model|(% style="text-align:center" %) |
	179	+| 23b|[[**M**odel>>||anchor="H23b.QueryModel28QM29"]]| | QM| | | |none (integer)| Returns a raw value representing the three model inputs (36 bit)|(% style="text-align:center" %) |
	180	+| 24|[[Serial **N**umber>>||anchor="H24.QuerySerialNumber28QN29"]]| | QN| | | |none (integer)| |(% style="text-align:center" %)
	181	+| 25|[[**F**irmware version>>||anchor="H25.QueryFirmware28QF29"]]| | QF| | | |none (integer)| |(% style="text-align:center" %)
	182	+| 26|[[**Q**uery (general status)>>||anchor="H26.QueryStatus28Q29"]]| | Q| | | ✓|none (integer from 1 to 8)| See command description for details|(% style="text-align:center" %)
	183	+| 27|[[**V**oltage>>||anchor="H27.QueryVoltage28QV29"]]| | QV| | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)| |(% style="text-align:center" %)
	184	+| 28|[[**T**emperature>>||anchor="H28.QueryTemperature28QT29"]]| | QT| | | ✓|tenths of degrees Celsius|Max temp before error: 85°C (servo goes limp)|(% style="text-align:center" %)
	185	+| 29|[[**C**urrent>>||anchor="H29.QueryCurrent28QC29"]]| | QC| | | ✓|milliamps (ex 200 = 0.2A)| |(% style="text-align:center" %)
	186	+| 30|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]]| | |CRC| |✓|none|(((
	187	+CRC: Add modifier "1" for RC-position mode.
	188	+CRC: Add modifier "2" for RC-wheel mode.
	189	+Any other value for the modifier results in staying in smart mode.
	190	+Puts the servo into RC mode. To revert to smart mode, use the button menu.
	191	+)))|(% style="text-align:center" %)Serial
	192	+|31|[[**RESET**>>||anchor="H31.RESET"]]| | | | | ✓|none|Soft reset. See command for details.|(% style="text-align:center" %)
	193	+|32|[[**DEFAULT**>>||anchor="H32.DEFAULTA026CONFIRM"]]| | | | |✓|none|Revert to firmware default values. See command for details|(% style="text-align:center" %)
	194	+|33|[[**UPDATE**>>||anchor="H33.UPDATEA026CONFIRM"]]| | | | |✓|none|Update firmware. See command for details.|(% style="text-align:center" %)
200	200
201		-== Details - Basic ==
	196	+== Details ==
202	202
203	203	====== __1. Limp (**L**)__ ======
204	204
...	...	@@ -210,31 +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.
	208	+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__ ======
	210	+====== __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.
	214	+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**, **SD**) modifier__ ======
	218	+====== __4. Speed (**S**)__ ======
224	224
225	225	Example: #5P1500S750<cr>
226		-Example: #5D0SD180<cr>
227	227
228		-Modifier (S) is 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.
	222	+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.
229	229
230		-Modifer (S) is only for a position (D) or relative position (MD) action and determines the speed of the move in degrees per second. A speed modifier (SD) of 180 would cause the servo to rotate from its current position to the desired absolute or relative position at a speed of 180 degrees per second.
231		-
232		-Query Speed (**QS**)
233		-
234		-Example: #5QS<cr> might return *5QS300<cr>
235		-
236		-This command queries the current speed in microseconds per second.
237		-
238	238	====== __5. (Relative) Move in Degrees (**MD**)__ ======
239	239
240	240	Example: #5MD123<cr>
...	...	@@ -245,11 +245,11 @@
245	245
246	246	Example: #5O2400<cr>
247	247
248		-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).
	234	+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).
249	249
250	250	[[image:LSS-servo-default.jpg]]
251	251
252		-In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
	238	+In the second image, the origina, as well as the angular range (explained below) have been shifted by 240.0 degrees:
253	253
254	254	[[image:LSS-servo-origin.jpg]]
255	255
...	...	@@ -257,33 +257,33 @@
257	257
258	258	Example: #5QO<cr> Returns: *5QO-13
259	259
260		-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.
	246	+This allows you to query the angle (in tenths of degrees) of the origin in relation to the factory zero position.
261	261
262	262	Configure Origin Offset (**CO**)
263	263
264	264	Example: #5CO-24<cr>
265	265
266		-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.
	252	+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.
267	267
268	268	====== __7. Angular Range (**AR**)__ ======
269	269
270	270	Example: #5AR1800<cr>
271	271
272		-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:
	258	+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,
273	273
274	274	[[image:LSS-servo-default.jpg]]
275	275
276		-Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
	262	+Here, the angular range has been restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
277	277
278	278	[[image:LSS-servo-ar.jpg]]
279	279
280		-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:
	266	+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:
281	281
282	282	[[image:LSS-servo-ar-o-1.jpg]]
283	283
284	284	Query Angular Range (**QAR**)
285	285
286		-Example: #5QAR<cr> might return *5AR1800, indicating the total angular range is 180.0 degrees.
	272	+Example: #5QAR<cr> might return *5AR2756
287	287
288	288	Configure Angular Range (**CAR**)
289	289
...	...	@@ -293,7 +293,7 @@
293	293
294	294	Example: #5P2334<cr>
295	295
296		-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.
297	297
298	298	Query Position in Pulse (**QP**)
299	299
...	...	@@ -304,7 +304,7 @@
304	304
305	305	====== __9. Position in Degrees (**D**)__ ======
306	306
307		-Example: #5D1456<cr>
	293	+Example: #5PD1456<cr>
308	308
309	309	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.
310	310
...	...	@@ -316,13 +316,6 @@
316	316
317	317	This means the servo is located at 13.2 degrees.
318	318
319		-(% class="wikigeneratedid" id="H22.QueryTargetPositioninDegrees28QDT29" %)
320		-Query Target Position in Degrees (**QDT**)
321		-
322		-Ex: #5QDT<cr> might return *5QDT6783<cr>
323		-
324		-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>).
325		-
326	326	====== __10. Wheel Mode in Degrees (**WD**)__ ======
327	327
328	328	Ex: #5WD900<cr>
...	...	@@ -347,22 +347,22 @@
347	347
348	348	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).
349	349
350		-====== __12. Max Speed in Degrees (**SD**)__ ======
	329	+====== __12. Speed in Degrees (**SD**)__ ======
351	351
352	352	Ex: #5SD1800<cr>
353	353
354		-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.
	333	+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.
355	355
356	356	Query Speed in Degrees (**QSD**)
357	357
358	358	Ex: #5QSD<cr> might return *5QSD1800<cr>
359	359
360		-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.
	339	+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.
361	361	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:
362	362
363	363	|**Command sent**|**Returned value (1/10 °)**
364	364	|ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
365		-|ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
	344	+|ex: #5QSD1<cr>|Configured maximum speed  (set by CSD/CSR)
366	366	|ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
367	367	|ex: #5QSD3<cr>|Target travel speed
368	368
...	...	@@ -372,22 +372,22 @@
372	372
373	373	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.
374	374
375		-====== __13. Max Speed in RPM (**SR**)__ ======
	354	+====== __13. Speed in RPM (**SR**)__ ======
376	376
377	377	Ex: #5SD45<cr>
378	378
379		-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.
	358	+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.
380	380
381	381	Query Speed in Degrees (**QSR**)
382	382
383	383	Ex: #5QSR<cr> might return *5QSR45<cr>
384	384
385		-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.
	364	+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.
386	386	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:
387	387
388	388	|**Command sent**|**Returned value (1/10 °)**
389	389	|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
390		-|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
	369	+|ex: #5QSR1<cr>|Configured maximum speed  (set by CSD/CSR)
391	391	|ex: #5QSR2<cr>|Instantaneous speed (same as QWR)
392	392	|ex: #5QSR3<cr>|Target travel speed
393	393
...	...	@@ -395,344 +395,286 @@
395	395
396	396	Ex: #5CSR45<cr>
397	397
398		-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.
	377	+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.
399	399
400		-====== __14. LED Color (**LED**)__ ======
	379	+====== __14. Angular Stiffness (**AS**)__ ======
401	401
402		-Ex: #5LED3<cr>
	381	+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.
403	403
404		-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.
	383	+A positive value of "angular stiffness":
405	405
406		-0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;
	385	+* The more torque will be applied to try to keep the desired position against external input / changes
	386	+* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
407	407
408		-Query LED Color (**QLED**)
	388	+A negative value on the other hand:
409	409
410		-Ex: #5QLED<cr> might return *5QLED5<cr>
	390	+* Causes a slower acceleration to the travel speed, and a slower deceleration
	391	+* Allows the target position to deviate more from its position before additional torque is applied to bring it back
411	411
412		-This simple query returns the indicated servo's LED color.
	393	+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.
413	413
414		-Configure LED Color (**CLED**)
	395	+Ex: #5AS-2<cr>
415	415
416		-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.
	397	+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.
417	417
418		-====== __15. Gyre Rotation Direction (**G**)__ ======
	399	+Ex: #5QAS<cr>
419	419
420		-"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).
	401	+Queries the value being used.
421	421
422		-Ex: #5G-1<cr>
	403	+Ex: #5CAS<cr>
423	423
424		-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.
	405	+Writes the desired angular stiffness value to memory.
425	425
426		-Query Gyre Direction (**QG**)
	407	+====== __15. Angular Hold Stiffness (**AH**)__ ======
427	427
428		-Ex: #5QG<cr> might return *5QG-1<cr>
	409	+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.
429	429
430		-The value returned above means the servo is in a counter-clockwise gyration.
	411	+Ex: #5AH3<cr>
431	431
432		-Configure Gyre (**CG**)
	413	+This sets the holding stiffness for servo #5 to 3 for that session.
433	433
434		-Ex: #5CG-1<cr>
	415	+Query Angular Hold Stiffness (**QAH**)
435	435
436		-This changes the gyre direction as described above and also writes to EEPROM.
	417	+Ex: #5QAH<cr> might return *5QAH3<cr>
437	437
438		-====== __16. Identification Number (**ID**)__ ======
	419	+This returns the servo's angular holding stiffness value.
439	439
440		-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).
	421	+Configure Angular Hold Stiffness (**CAH**)
441	441
442		-Query Identification (**QID**)
	423	+Ex: #5CAH2<cr>
443	443
444		-EX: #254QID<cr> might return *QID5<cr>
	425	+This writes the angular holding stiffness of servo #5 to 2 to EEPROM
445	445
446		-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.
	427	+====== __15b: Angular Acceleration (**AA**)__ ======
447	447
448		-Configure ID (**CID**)
	429	+{More details to come}
449	449
450		-Ex: #4CID5<cr>
	431	+====== __15c: Angular Deceleration (**AD**)__ ======
451	451
452		-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.
	433	+{More details to come}
453	453
454		-====== __17. Baud Rate__ ======
	435	+====== __15d: Motion Control (**EM**)__ ======
455	455
456		-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.
	437	+{More details to come}
457	457
458		-Query Baud Rate (**QB**)
	439	+====== __16. RGB LED (**LED**)__ ======
459	459
460		-Ex: #5QB<cr> might return *5QB115200<cr>
	441	+Ex: #5LED3<cr>
461	461
462		-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.
	443	+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.
463	463
464		-Configure Baud Rate (**CB**)
	445	+0=OFF 1=RED 2=GREEN 3= BLUE 4=YELLOW 5=CYAN 6= 7=MAGENTA, 8=WHITE
465	465
466		-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.
	447	+Query LED Color (**QLED**)
467	467
468		-Ex: #5CB9600<cr>
	449	+Ex: #5QLED<cr> might return *5QLED5<cr>
469	469
470		-Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
	451	+This simple query returns the indicated servo's LED color.
471	471
472		-====== __18. {//Coming soon//}__ ======
	453	+Configure LED Color (**CLED**)
473	473
474		-Command coming soon....
	455	+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.
475	475
476		-====== __19. First Position (Degrees)__ ======
	457	+====== __16b. Configure LED Blinking (**CLB**)__ ======
477	477
478		-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.
	459	+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).
	460	+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;
479	479
480		-Query First Position in Degrees (**QFD**)
	462	+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:
481	481
482		-Ex: #5QFD<cr> might return *5QFD64<cr>
	464	+Ex: #5CLB0<cr> to turn off all blinking (LED always solid)
	465	+Ex: #5CLB1<cr> only blink when limp
	466	+Ex: #5CLB2<cr> only blink when holding
	467	+Ex: #5CLB12<cr> only blink when accel or decel
	468	+Ex: #5CLB48<cr> only blink when free or travel
	469	+Ex: #5CLB63<cr> blink in all status
483	483
484		-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
	471	+====== __17. Identification Number__ ======
485	485
486		-Configure First Position in Degrees (**CFD**)
	473	+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.
487	487
488		-Ex: #5CD64<cr>
	475	+Query Identification (**QID**)
489	489
490		-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>
	477	+EX: #254QID<cr> might return *QID5<cr>
491	491
492		-====== __20. Query Model String (**QMS**)__ ======
	479	+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.
493	493
494		-Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
	481	+Configure ID (**CID**)
495	495
496		-This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
	483	+Ex: #4CID5<cr>
497	497
498		-====== __21. Query Serial Number (**QN**)__ ======
	485	+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.
499	499
500		-Ex: #5QN<cr> might return *5QN12345678<cr>
	487	+====== __18. Baud Rate__ ======
501	501
502		-The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
	489	+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.
	490	+\*: 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.
503	503
504		-====== __22. Query Firmware (**QF**)__ ======
	492	+Query Baud Rate (**QB**)
505	505
506		-Ex: #5QF<cr> might return *5QF411<cr>
	494	+Ex: #5QB<cr> might return *5QB9600<cr>
507	507
508		-The number in the reply represents the firmware version, in this example being 411.
	496	+Querying the baud rate is used simply to confirm the CB configuration command before the servo is power cycled.
509	509
510		-====== __23. Query Status (**Q**)__ ======
	498	+Configure Baud Rate (**CB**)
511	511
512		-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.
	500	+Ex: #5CB9600<cr>
513	513
514		-Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
	502	+Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
515	515
516		-|***Value returned (Q)**|**Status**|**Detailed description**
517		-|ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
518		-|ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely
519		-|ex: *5Q2<cr>|2: Free moving|Motor driving circuit is not powered and horn can be moved freely
520		-|ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
521		-|ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
522		-|ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
523		-|ex: *5Q6<cr>|6: Holding|Keeping current position
524		-|ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
525		-|ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
526		-|ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
527		-|ex: *5Q10<cr>|10: Safe Mode|(((
528		-A safety limit has been exceeded (temperature, peak current or extended high current draw).
	504	+====== __19. Gyre Rotation Direction__ ======
529	529
530		-Send a Q1 command to know which limit has been reached (described below).
531		-)))
	506	+"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		-(% class="wikigeneratedid" %)
534		-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.
	508	+{images showing before and after with AR and Origin offset}
535	535
536		-|***Value returned (Q1)**|**Status**|**Detailed description**
537		-|ex: *5Q0<cr>|No limits have been passed|Nothing is wrong
538		-|ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
539		-|ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
540		-|ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
	510	+Query Gyre Direction (**QG**)
541	541
542		-====== __24. Query Voltage (**QV**)__ ======
	512	+Ex: #5QG<cr> might return *5QG-1<cr>
543	543
544		-Ex: #5QV<cr> might return *5QV11200<cr>
	514	+The value returned above means the servo is in a counter-clockwise gyration.
545	545
546		-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).
	516	+Configure Gyre (**CG**)
547	547
548		-====== __25. Query Temperature (**QT**)__ ======
	518	+Ex: #5CG-1<cr>
549	549
550		-Ex: #5QT<cr> might return *5QT564<cr>
	520	+This changes the gyre direction as described above and also writes to EEPROM.
551	551
552		-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.
	522	+====== __20. First / Initial Position (pulse)__ ======
553	553
554		-====== __26. Query Current (**QC**)__ ======
	524	+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.
555	555
556		-Ex: #5QC<cr> might return *5QC140<cr>
	526	+Query First Position in Pulses (**QFP**)
557	557
558		-The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
	528	+Ex: #5QFP<cr> might return *5QFP1550<cr>
559	559
560		-====== __27. Configure RC Mode (**CRC**)__ ======
	530	+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").
561	561
562		-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.
	532	+Configure First Position in Pulses (**CFP**)
563	563
564		-|**Command sent**|**Note**
565		-|ex: #5CRC1<cr>|Change to RC position mode.
566		-|ex: #5CRC2<cr>|Change to RC continuous (wheel) mode.
567		-|ex: #5CRC*<cr>|Where * is any number or value other than 1 or 2 (or no value): stay in smart mode.
	534	+Ex: #5CP1550<cr>
568	568
569		-EX: #5CRC2<cr>
	536	+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).
570	570
571		-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.
	538	+====== __21. First / Initial Position (Degrees)__ ======
572	572
573		-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.
	540	+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.
574	574
575		-====== __28. **RESET**__ ======
	542	+Query First Position in Degrees (**QFD**)
576	576
577		-Ex: #5RESET<cr> or #5RS<cr>
	544	+Ex: #5QFD<cr> might return *5QFD64<cr>
578	578
579		-This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
580		-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.
	546	+The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds.
581	581
582		-====== __29. **DEFAULT** & CONFIRM__ ======
	548	+Configure First Position in Degrees (**CFD**)
583	583
584		-Ex: #5DEFAULT<cr>
	550	+Ex: #5CD64<cr>
585	585
586		-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.
	552	+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.
587	587
588		-EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
	554	+====== __22. Query Target Position in Degrees (**QDT**)__ ======
589	589
590		-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.
	556	+Ex: #5QDT<cr> might return *5QDT6783<cr>
591	591
592		-Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
	558	+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>).
593	593
594		-====== __30. **UPDATE** & CONFIRM__ ======
	560	+====== __23. Query Model String (**QMS**)__ ======
595	595
596		-Ex: #5UPDATE<cr>
	562	+Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
597	597
598		-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.
	564	+This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
599	599
600		-EX: #5UPDATE<cr> followed by #5CONFIRM<cr>
	566	+====== __23b. Query Model (**QM**)__ ======
601	601
602		-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.
	568	+Ex: #5QM<cr> might return *5QM68702699520cr>
603	603
604		-Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
	570	+This reply means the servo model is 0xFFF000000 or 100, meaning a high speed servo, first revision.
605	605
606		-== Details - Advanced ==
	572	+====== __24. Query Serial Number (**QN**)__ ======
607	607
608		-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.
	574	+Ex: #5QN<cr> might return *5QN~_~_<cr>
609	609
610		-====== __A1. Angular Stiffness (**AS**)__ ======
	576	+The number in the response is the servo's serial number which is set and cannot be changed.
611	611
612		-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.
	578	+====== __25. Query Firmware (**QF**)__ ======
613	613
614		-A positive value of "angular stiffness":
	580	+Ex: #5QF<cr> might return *5QF11<cr>
615	615
616		-* The more torque will be applied to try to keep the desired position against external input / changes
617		-* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
	582	+The integer in the reply represents the firmware version with one decimal, in this example being 1.1
618	618
619		-A negative value on the other hand:
	584	+====== __26. Query Status (**Q**)__ ======
620	620
621		-* Causes a slower acceleration to the travel speed, and a slower deceleration
622		-* Allows the target position to deviate more from its position before additional torque is applied to bring it back
	586	+Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
623	623
624		-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.
	588	+|*Value returned|**Status**|**Detailed description**
	589	+|ex: *5Q0<cr>|Unknown|LSS is unsure
	590	+|ex: *5Q1<cr>|Limp|Motor driving circuit is not powered and horn can be moved freely
	591	+|ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
	592	+|ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
	593	+|ex: *5Q4<cr>|Traveling|Moving at a stable speed
	594	+|ex: *5Q5<cr>|Decelerating|Decreasing from travel speed towards final position.
	595	+|ex: *5Q6<cr>|Holding|Keeping current position
	596	+|ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque
	597	+|ex: *5Q8<cr>|Outside limits|{More details coming soon}
	598	+|ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting
	599	+|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
625	625
626		-Ex: #5AS-2<cr>
	601	+====== __27. Query Voltage (**QV**)__ ======
627	627
628		-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.
	603	+Ex: #5QV<cr> might return *5QV11200<cr>
629	629
630		-Ex: #5QAS<cr>
	605	+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).
631	631
632		-Queries the value being used.
	607	+====== __28. Query Temperature (**QT**)__ ======
633	633
634		-Ex: #5CAS<cr>
	609	+Ex: #5QT<cr> might return *5QT564<cr>
635	635
636		-Writes the desired angular stiffness value to memory.
	611	+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.
637	637
638		-====== __A2. Angular Holding Stiffness (**AH**)__ ======
	613	+====== __29. Query Current (**QC**)__ ======
639	639
640		-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	+Ex: #5QC<cr> might return *5QC140<cr>
641	641
642		-Ex: #5AH3<cr>
	617	+The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
643	643
644		-This sets the holding stiffness for servo #5 to 3 for that session.
	619	+====== __30. RC Mode (**CRC**)__ ======
645	645
646		-Query Angular Hold Stiffness (**QAH**)
	621	+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.
647	647
648		-Ex: #5QAH<cr> might return *5QAH3<cr>
	623	+|**Command sent**|**Note**
	624	+|ex: #5CRC<cr>|Stay in smart mode.
	625	+|ex: #5CRC1<cr>|Change to RC position mode.
	626	+|ex: #5CRC2<cr>|Change to RC continuous (wheel) mode.
	627	+|ex: #5CRC*<cr>|Where * is any number or value. Stay in smart mode.
649	649
650		-This returns the servo's angular holding stiffness value.
	629	+EX: #5CRC<cr>
651	651
652		-Configure Angular Hold Stiffness (**CAH**)
	631	+====== __31. RESET__ ======
653	653
654		-Ex: #5CAH2<cr>
	633	+Ex: #5RESET<cr> or #5RS<cr>
655	655
656		-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.
	635	+This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
657	657
658		-====== __A3: Angular Acceleration (**AA**)__ ======
	637	+====== __32. DEFAULT & CONFIRM__ ======
659	659
660		-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.
	639	+Ex: #5DEFAULT<cr>
661	661
662		-Ex: #5AA30<cr>
	641	+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.
663	663
664		-Query Angular Acceleration (**QAD**)
	643	+EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
665	665
666		-Ex: #5QA<cr> might return *5QA30<cr>
	645	+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.
667	667
668		-Configure Angular Acceleration (**CAD**)
	647	+Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
669	669
670		-Ex: #5CA30<cr>
	649	+====== __33. UPDATE & CONFIRM__ ======
671	671
672		-====== __A4: Angular Deceleration (**AD**)__ ======
	651	+Ex: #5UPDATE<cr>
673	673
674		-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.
	653	+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.
675	675
676		-Ex: #5AD8<cr>
	655	+EX: #5UPDATE<cr> followed by #5CONFIRM<cr>
677	677
678		-Query Angular Deceleration (**QAD**)
	657	+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.
679	679
680		-Ex: #5QD<cr> might return *5QD8<cr>
681		-
682		-Configure Angular Deceleration (**CAD**)
683		-
684		-Ex: #5CD8<cr>
685		-
686		-====== __A5: Motion Control (**EM**)__ ======
687		-
688		-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.
689		-
690		-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.
691		-
692		-====== __A6. Configure LED Blinking (**CLB**)__ ======
693		-
694		-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:
695		-
696		-(% style="width:195px" %)
697		-|(% style="width:134px" %)**Blink While:**|(% style="width:58px" %)**#**
698		-|(% style="width:134px" %)No blinking|(% style="width:58px" %)0
699		-|(% style="width:134px" %)Limp|(% style="width:58px" %)1
700		-|(% style="width:134px" %)Holding|(% style="width:58px" %)2
701		-|(% style="width:134px" %)Accelerating|(% style="width:58px" %)4
702		-|(% style="width:134px" %)Decelerating|(% style="width:58px" %)8
703		-|(% style="width:134px" %)Free|(% style="width:58px" %)16
704		-|(% style="width:134px" %)Travelling|(% style="width:58px" %)32
705		-|(% style="width:134px" %)Always blink|(% style="width:58px" %)63
706		-
707		-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:
708		-
709		-Ex: #5CLB0<cr> to turn off all blinking (LED always solid)
710		-Ex: #5CLB1<cr> only blink when limp (1)
711		-Ex: #5CLB2<cr> only blink when holding (2)
712		-Ex: #5CLB12<cr> only blink when accel or decel (accel 4 + decel 8 = 12)
713		-Ex: #5CLB48<cr> only blink when free or travel (free 16 + travel 32 = 48)
714		-Ex: #5CLB63<cr> blink in all status (1 + 2 + 4 + 8 + 16 + 32)
715		-
716		-RESETTING the servo is needed.
717		-
718		-====== __A7. Current Halt & Hold (**CH**)__ ======
719		-
720		-This modifier, released in firmware v367, can be added to the following actions: D; MD; WD; WR.
721		-
722		-Ex: #5D1423CH400<cr>
723		-
724		-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.
725		-
726		-====== __A8. Current Limp (**CL**)__ ======
727		-
728		-This modifier, released in firmware v367, can be added to the following actions: D; MD; WD; WR.
729		-
730		-Ex: #5D1423CH400<cr>
731		-
732		-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.
733		-
734		-= RGB LED Patterns =
735		-
736		-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]]
737		-
738		-[[image:LSS - LED Patterns.png]]
	659	+Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.

LSS - LED Patterns.png

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