Last modified by Eric Nantel on 2024/11/21 09:43
From version < 192.1 >
edited by RB1
on 2020/05/04 10:16
To version < 194.2 >
edited by Coleman Benson
on 2020/05/11 14:59
< >
Change comment: There is no comment for this version

Summary

Details

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Author
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1 -xwiki:XWiki.RB1
1 +xwiki:XWiki.CBenson
Content
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7 7  
8 8  The 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 staying compact and robust yet highly versatile. The protocol was based on Lynxmotion's SSC-32 & SSC-32U RC servo controllers and almost everything one might expect to be able to configure for a smart servomotor is available.
9 9  
10 -In order to be able to control each servo individually with commands, the first step should be to assign a different ID number to each servo (see details on CID [[here>>doc:||anchor="HIdentificationNumber28ID29"]]). 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 or checksum implemented as part of the protocol.
10 +In order to be able to control each servo individually with commands, the first step should be to assign a different ID number to each servo (see details on the Configure ID, or "CID" command [[here>>doc:||anchor="HIdentificationNumber28ID29"]]). Only the servo(s) which have been configured to a specific ID will act on a command sent to that ID. There is currently no CRC or checksum implemented as part of the protocol.
11 11  
12 12  == Session ==
13 13  
... ... @@ -15,21 +15,21 @@
15 15  <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
16 16  A "session" is defined as the time between when the servo is powered ON to when it is powered OFF or reset.<div class="wikimodel-emptyline"></div>
17 17  
18 -**Note #1:** For a given session, the action related to a specific command overrides the stored value in EEPROM.<div class="wikimodel-emptyline"></div>
19 -**Note #2:** During the power-on / reset process the LSS cannot accept commands for a small amount of time (1.25 s).<div class="wikimodel-emptyline"></div>
20 -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 to compensate for drivers, OS and buffering delays.
18 +**Note 1:** For a given session, the action related to a specific command overrides the stored value in EEPROM.<div class="wikimodel-emptyline"></div>
19 +**Note 2:** During the power-on / reset process the LSS cannot accept commands for a small amount of time (~1.25 s).<div class="wikimodel-emptyline"></div>
20 +**Note 3:** You can ensure the LSS is ready by using a query command to check for response (ex: #[id]Q\r or #[id]QID\r described below). If the LSS is ready for commands (initialized) it will respond to the query. A timeout between 50-100 ms is recommended to compensate for drivers, OS and buffering delays.
21 21  <div class="wikimodel-emptyline"></div></div></div>
22 22  {{/html}}
23 23  
24 24  == Action Commands ==
25 25  
26 -{{html wiki="true" clean="false"}}
26 +{{html clean="false" wiki="true"}}
27 27  <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
28 -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>>||anchor="HVirtualAngularPosition"]]. Action commands are sent serially to the servo's Rx pin and must be sent in the following format:<div class="wikimodel-emptyline"></div>
28 +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>>||anchor="HVirtualAngularPosition"]] (described below). Action commands are sent serially to the servo's Rx pin and must be sent in the following format:<div class="wikimodel-emptyline"></div>
29 29  
30 30  1. Start with a number sign **#** (Unicode Character: U+0023)
31 -1. Servo ID number as an integer
32 -1. Action command (one or more letters, no whitespace, capital or lower case)
31 +1. Servo ID number as an integer (assigning an ID described below)
32 +1. Action command (one or more letters, no whitespace, capital or lowercase from the list below)
33 33  1. Action value in the correct units with no decimal
34 34  1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)
35 35  
... ... @@ -42,15 +42,15 @@
42 42  
43 43  == Modifiers ==
44 44  
45 -{{html wiki="true" clean="false"}}
45 +{{html clean="false" wiki="true"}}
46 46  <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
47 47  Modifiers can only be used with certain **action commands**. The format to include a modifier is:<div class="wikimodel-emptyline"></div>
48 48  
49 49  1. Start with a number sign **#** (Unicode Character: U+0023)
50 50  1. Servo ID number as an integer
51 -1. Action command (one to three letters, no spaces, capital or lower case)
51 +1. Action command (one to three letters, no spaces, capital or lowercase from a subset of action commands below)
52 52  1. Action value in the correct units with no decimal
53 -1. Modifier command (one letter to too letters)
53 +1. Modifier command (one or two letters from the list of modifiers below)
54 54  1. Modifier value in the correct units with no decimal
55 55  1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)
56 56  
... ... @@ -62,7 +62,7 @@
62 62  
63 63  == Query Commands ==
64 64  
65 -{{html wiki="true" clean="false"}}
65 +{{html clean="false" wiki="true"}}
66 66  <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
67 67  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:<div class="wikimodel-emptyline"></div>
68 68  
... ... @@ -71,7 +71,7 @@
71 71  1. Query command (one to four letters, no spaces, capital or lower case)
72 72  1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)<div class="wikimodel-emptyline"></div>
73 73  
74 -Ex: #5QD&lt;cr&gt; Query position in (tenth of) degrees for servo #5<div class="wikimodel-emptyline"></div>
74 +Ex: #5QD&lt;cr&gt; Query the position in (tenth of) degrees for servo with ID #5<div class="wikimodel-emptyline"></div>
75 75  
76 76  The query will return a serial string (almost instantaneously) via the servo's Tx pin with the following format:
77 77  
... ... @@ -91,11 +91,11 @@
91 91  
92 92  == Configuration Commands ==
93 93  
94 -{{html wiki="true" clean="false"}}
94 +{{html clean="false" wiki="true"}}
95 95  <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
96 96  Configuration commands and corresponding values affect a servo's defaults which are written to and read from the servo's EEPROM.<div class="wikimodel-emptyline"></div>
97 97  
98 -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. This means that if two same configuration commands are sent, one after the next, only the last configuration is used and stored.<div class="wikimodel-emptyline"></div>
98 +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. This means that if two of the same configuration commands are sent, one after the next, only the last configuration is used and stored.<div class="wikimodel-emptyline"></div>
99 99  
100 100  The format to send a configuration command is identical to that of an action command:<div class="wikimodel-emptyline"></div>
101 101  
... ... @@ -153,75 +153,71 @@
153 153  
154 154  **Latest firmware version currently : 368.29.14**
155 155  
156 -|(% colspan="10" style="color:orange; font-size:18px" %)[[**Communication Setup**>>||anchor="COMMUNICATION_SETUP"]]
156 +|(% colspan="10" style="color:orange; font-size:18px" %)[[**Communication Setup**>>||anchor="HCommunicationSetup"]]
157 157  |(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="text-align:center; width:75px" %)**RC**|(% style="text-align:center; width:75px" %)**Serial**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
158 -| |[[**Reset**>>||anchor="RESET"]]|(% style="text-align:center" %)RESET|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Soft reset. See command for details.
159 -| |[[**Default** Configuration>>||anchor="DEFAULT"]]|(% style="text-align:center" %)DEFAULT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Revert to firmware default values. See command for details
158 +| |[[**Reset**>>||anchor="HReset"]]|(% style="text-align:center" %)RESET|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Soft reset. See command for details.
159 +| |[[**Default** Configuration>>||anchor="HDefault26confirm"]]|(% style="text-align:center" %)DEFAULT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Revert to firmware default values. See command for details
160 160  | |[[Firmware **Update** Mode>>||anchor="HUpdate26confirm"]]|(% style="text-align:center" %)UPDATE|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Update firmware. See command for details.
161 -| |[[**Confirm** Changes>>||anchor="CONFIRM"]]|(% style="text-align:center" %)CONFIRM|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |
162 -| |[[**C**hange to **RC**>>||anchor="CHANGE_RC"]]|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)CRC|(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Change to RC mode 1 (position) or 2 (wheel).
163 -| |[[**ID** #>>||anchor="ID"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QID|(% style="text-align:center" %)CID|(% style="text-align:center" %) |(% style="text-align:center" %)✓|0| |Reset required after change. ID 254 is a "broadcast" which all servos respond to.
164 -| |[[**B**audrate>>||anchor="BAUDRATE"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QB|(% style="text-align:center" %)CB|(% style="text-align:center" %) |(% style="text-align:center" %)✓|115200| |Reset required after change.
161 +| |[[**Confirm** Changes>>||anchor="HConfirm"]]|(% style="text-align:center" %)CONFIRM|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |
162 +| |[[**C**hange to **RC**>>||anchor="HConfigureRCMode28CRC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)CRC|(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Change to RC mode 1 (position) or 2 (wheel).
163 +| |[[**ID** #>>||anchor="HIdentificationNumber28ID29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QID|(% style="text-align:center" %)CID|(% style="text-align:center" %) |(% style="text-align:center" %)✓|0| |Reset required after change. ID 254 is a "broadcast" which all servos respond to.
164 +| |[[**B**audrate>>||anchor="HBaudRate"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QB|(% style="text-align:center" %)CB|(% style="text-align:center" %) |(% style="text-align:center" %)✓|115200| |Reset required after change.
165 165  
166 -|(% colspan="10" style="color:orange; font-size:18px" %)[[**Motion**>>||anchor="MOTION"]]
166 +|(% colspan="10" style="color:orange; font-size:18px" %)[[**Motion**>>||anchor="HMotion"]]
167 167  |(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="text-align:center; width:75px" %)**RC**|(% style="text-align:center; width:75px" %)**Serial**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
168 -| |[[Position in **D**egrees>>||anchor="POSITION_D"]]|(% style="text-align:center" %)D|(% style="text-align:center" %)QD/QDT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1/10°|
169 -| |[[**M**ove in **D**egrees (relative)>>||anchor="MOVE_D"]]|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1/10°|
170 -| |[[**W**heel mode in **D**egrees>>||anchor="WHEEL_D"]]|(% style="text-align:center" %)WD|(% style="text-align:center" %)QWD/QVT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |°/s|A.K.A. "Speed mode" or "Continuous rotation"
171 -| |[[**W**heel mode in **R**PM>>||anchor="WHEEL_RPM"]]|(% style="text-align:center" %)WR|(% style="text-align:center" %)QWR|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |RPM|A.K.A. "Speed mode" or "Continuous rotation"
172 -| |[[Position in **P**WM>>||anchor="POSITION_PWM"]]|(% style="text-align:center" %)P|(% style="text-align:center" %)QP|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |us|Inherited from SSC-32 serial protocol
173 -| |[[**M**ove in PWM (relative)>>||anchor="MOVE_PWM"]]|(% style="text-align:center" %)M|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |us|
174 -| |[[**R**aw **D**uty-cycle **M**ove>>||anchor="MOVE_RAW"]]|(% style="text-align:center" %)RDM|(% style="text-align:center" %)QMD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |-1023 to 1023 integer|Positive values : CW / Negative values : CCW
175 -| |[[**Q**uery Status>>||anchor="QUERY_STATUS"]]|(% style="text-align:center" %) |(% style="text-align:center" %)Q|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1 to 8 integer|See command description for details
176 -| |[[**L**imp>>||anchor="LIMP"]]|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |
177 -| |[[**H**alt & Hold>>||anchor="HALT_HOLD"]]|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |
168 +| |[[Position in **D**egrees>>||anchor="HPositioninDegrees28D29"]]|(% style="text-align:center" %)D|(% style="text-align:center" %)QD/QDT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1/10°|
169 +| |[[**M**ove in **D**egrees (relative)>>||anchor="H28Relative29MoveinDegrees28MD29"]]|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1/10°|
170 +| |[[**W**heel mode in **D**egrees>>||anchor="HWheelModeinDegrees28WD29"]]|(% style="text-align:center" %)WD|(% style="text-align:center" %)QWD/QVT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |°/s|A.K.A. "Speed mode" or "Continuous rotation"
171 +| |[[**W**heel mode in **R**PM>>||anchor="HWheelModeinRPM28WR29"]]|(% style="text-align:center" %)WR|(% style="text-align:center" %)QWR|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |RPM|A.K.A. "Speed mode" or "Continuous rotation"
172 +| |[[Position in **P**WM>>||anchor="HPositioninPWM28P29"]]|(% style="text-align:center" %)P|(% style="text-align:center" %)QP|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |us|Inherited from SSC-32 serial protocol
173 +| |[[**M**ove in PWM (relative)>>||anchor="H28Relative29MoveinPWM28M29"]]|(% style="text-align:center" %)M|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |us|
174 +| |[[**R**aw **D**uty-cycle **M**ove>>||anchor="HRawDuty-cycleMove28RDM29"]]|(% style="text-align:center" %)RDM|(% style="text-align:center" %)QMD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |-1023 to 1023 integer|Positive values : CW / Negative values : CCW
175 +| |[[**Q**uery Status>>||anchor="HQueryStatus28Q29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)Q|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1 to 8 integer|See command description for details
176 +| |[[**L**imp>>||anchor="HLimp28L29"]]|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |
177 +| |[[**H**alt & Hold>>||anchor="HHalt26Hold28H29"]]|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |
178 178  
179 -|(% colspan="10" style="color:orange; font-size:18px" %)[[**Motion Setup**>>||anchor="MOTION_SETUP"]]
179 +|(% colspan="10" style="color:orange; font-size:18px" %)[[**Motion Setup**>>||anchor="HMotionSetup"]]
180 180  |(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="text-align:center; width:75px" %)**RC**|(% style="text-align:center; width:75px" %)**Serial**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
181 -| |[[**E**nable **M**otion Profile>>||anchor="MOTION_PROFILE"]]|(% style="text-align:center" %)EM|(% style="text-align:center" %)QEM|(% style="text-align:center" %)CEM|(% style="text-align:center" %) |(% style="text-align:center" %)✓|1| |EM1: trapezoidal motion profile / EM0: no motion profile
182 -| |[[**F**ilter **P**osition **C**ount>>||anchor="FILTER_POSITION_COUNT"]]|(% style="text-align:center" %)FPC|(% style="text-align:center" %)QFPC|(% style="text-align:center" %)CFPC|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|5| |Affects motion only when motion profile is disabled (EM0)
183 -| |[[**O**rigin Offset>>||anchor="ORIGIN_OFFSET"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|0|1/10°|
184 -| |[[**A**ngular **R**ange>>||anchor="ANGULAR_RANGE"]]|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|1800|1/10°|
185 -| |[[**A**ngular **S**tiffness>>||anchor="ANGULAR_STIFFNESS"]]|(% style="text-align:center" %)AS|(% style="text-align:center" %)QAS|(% style="text-align:center" %)CAS|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|0|-4 to +4 integer|Suggested values are between 0 to +4
186 -| |[[**A**ngular **H**olding Stiffness>>||anchor="ANGULAR_HOLDING_STIFFNESS"]]|(% style="text-align:center" %)AH|(% style="text-align:center" %)QAH|(% style="text-align:center" %)CAH|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|4|-10 to +10 integer|
187 -| |[[**A**ngular **A**cceleration>>||anchor="ANGULAR_ACCELERATION"]]|(% style="text-align:center" %)AA|(% style="text-align:center" %)QAA|(% style="text-align:center" %)CAA|(% style="text-align:center" %) |(% style="text-align:center" %)✓|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
188 -| |[[**A**ngular **D**eceleration>>||anchor="ANGULAR_DECELERATION"]]|(% style="text-align:center" %)AD|(% style="text-align:center" %)QAD|(% style="text-align:center" %)CAD|(% style="text-align:center" %) |(% style="text-align:center" %)✓|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
189 -| |[[**G**yre Direction>>||anchor="GYRE_DIRECTION"]]|(% style="text-align:center" %)G|(% style="text-align:center" %)QG|(% style="text-align:center" %)CG|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|1| |Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)
190 -| |[[**F**irst Position (**D**eg)>>||anchor="FIRST_POSITION"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFD|(% style="text-align:center" %)CFD|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|No value|1/10°|Reset required after change.
191 -| |[[**M**aximum **M**otor **D**uty>>||anchor="MAXIMUM_RAW"]]|(% style="text-align:center" %)MMD|(% style="text-align:center" %)QMMD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓|1023|255 to 1023 integer|
192 -| |[[Maximum **S**peed in **D**egrees>>||anchor="MAXIMUM_SPEED_D"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %)QSD|(% style="text-align:center" %)CSD|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|Max|°/s|SD overwrites SR / CSD overwrites CSR and vice-versa
193 -| |[[Maximum **S**peed in **R**PM>>||anchor="MAXIMUM_SPEED_RPM"]]|(% style="text-align:center" %)SR|(% style="text-align:center" %)QSR|(% style="text-align:center" %)CSR|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|Max|RPM|SD overwrites SR / CSD overwrites CSR and vice-versa
181 +| |[[**E**nable **M**otion Profile>>||anchor="HEnableMotionProfile28EM29"]]|(% style="text-align:center" %)EM|(% style="text-align:center" %)QEM|(% style="text-align:center" %)CEM|(% style="text-align:center" %) |(% style="text-align:center" %)✓|1| |EM1: trapezoidal motion profile / EM0: no motion profile
182 +| |[[**F**ilter **P**osition **C**ount>>||anchor="HFilterPositionCount28FPC29"]]|(% style="text-align:center" %)FPC|(% style="text-align:center" %)QFPC|(% style="text-align:center" %)CFPC|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|5| |Affects motion only when motion profile is disabled (EM0)
183 +| |[[**O**rigin Offset>>||anchor="HOriginOffset28O29"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|0|1/10°|
184 +| |[[**A**ngular **R**ange>>||anchor="HAngularRange28AR29"]]|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|1800|1/10°|
185 +| |[[**A**ngular **S**tiffness>>||anchor="HAngularStiffness28AS29"]]|(% style="text-align:center" %)AS|(% style="text-align:center" %)QAS|(% style="text-align:center" %)CAS|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|0|-4 to +4 integer|Suggested values are between 0 to +4
186 +| |[[**A**ngular **H**olding Stiffness>>||anchor="HAngularHoldingStiffness28AH29"]]|(% style="text-align:center" %)AH|(% style="text-align:center" %)QAH|(% style="text-align:center" %)CAH|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|4|-10 to +10 integer|
187 +| |[[**A**ngular **A**cceleration>>||anchor="HAngularAcceleration28AA29"]]|(% style="text-align:center" %)AA|(% style="text-align:center" %)QAA|(% style="text-align:center" %)CAA|(% style="text-align:center" %) |(% style="text-align:center" %)✓|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
188 +| |[[**A**ngular **D**eceleration>>||anchor="HAngularDeceleration28AD29"]]|(% style="text-align:center" %)AD|(% style="text-align:center" %)QAD|(% style="text-align:center" %)CAD|(% style="text-align:center" %) |(% style="text-align:center" %)✓|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
189 +| |[[**G**yre Direction>>||anchor="HGyreDirection28G29"]]|(% style="text-align:center" %)G|(% style="text-align:center" %)QG|(% style="text-align:center" %)CG|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|1| |Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)
190 +| |[[**F**irst Position (**D**eg)>>||anchor="HFirstPosition"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFD|(% style="text-align:center" %)CFD|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|No value|1/10°|Reset required after change.
191 +| |[[**M**aximum **M**otor **D**uty>>||anchor="HMaximumMotorDuty28MMD29"]]|(% style="text-align:center" %)MMD|(% style="text-align:center" %)QMMD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓|1023|255 to 1023 integer|
192 +| |[[Maximum **S**peed in **D**egrees>>||anchor="HMaximumSpeedinDegrees28SD29"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %)QSD|(% style="text-align:center" %)CSD|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|Max|°/s|SD overwrites SR / CSD overwrites CSR and vice-versa
193 +| |[[Maximum **S**peed in **R**PM>>||anchor="HMaximumSpeedinRPM28SR29"]]|(% style="text-align:center" %)SR|(% style="text-align:center" %)QSR|(% style="text-align:center" %)CSR|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|Max|RPM|SD overwrites SR / CSD overwrites CSR and vice-versa
194 194  
195 -|(% colspan="10" style="color:orange; font-size:18px" %)[[**Modifiers**>>||anchor="MODIFIERS"]]
195 +|(% colspan="10" style="color:orange; font-size:18px" %)[[**Modifiers**>>||anchor="HModifiers"]]
196 196  |(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Modifier**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="text-align:center; width:75px" %)**RC**|(% style="text-align:center; width:75px" %)**Serial**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
197 -| |[[**S**peed>>||anchor="SPEEDS"]]|(% style="text-align:center" %)S|(% style="text-align:center" %)QS|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |uS/s |For P action command
198 -| |[[**S**peed in **D**egrees>>||anchor="SPEEDS"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |°/s|For D and MD action commands
199 -| |[[**T**imed move>>||anchor="TIMED_MOVE"]]|(% style="text-align:center" %)T|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |ms|Modifier only for P, D and MD. Time can change based on load
200 -| |[[**C**urrent **H**old>>||anchor="CURRENT_HOLD"]]|(% style="text-align:center" %)CH|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mA|Modifier for D, MD, WD and WR
201 -| |[[**C**urrent **L**imp>>||anchor="CURRENT_LIMP"]]|(% style="text-align:center" %)CL|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mA|Modifier for D, MD, WD and WR
197 +| |[[**S**peed>>||anchor="HSpeed28S2CSD29modifier"]]|(% style="text-align:center" %)S|(% style="text-align:center" %)QS|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |uS/s |For P action command
198 +| |[[**S**peed in **D**egrees>>||anchor="HSpeed28S2CSD29modifier"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |°/s|For D and MD action commands
199 +| |[[**T**imed move>>||anchor="HTimedmove28T29modifier"]]|(% style="text-align:center" %)T|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |ms|Modifier only for P, D and MD. Time can change based on load
200 +| |[[**C**urrent **H**old>>||anchor="HCurrentHalt26Hold28CH29modifier"]]|(% style="text-align:center" %)CH|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mA|Modifier for D, MD, WD and WR
201 +| |[[**C**urrent **L**imp>>||anchor="HCurrentLimp28CL29modifier"]]|(% style="text-align:center" %)CL|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mA|Modifier for D, MD, WD and WR
202 202  
203 -|(% colspan="10" style="color:orange; font-size:18px" %)[[**Telemetry**>>||anchor="TELEMETRY"]]
203 +|(% colspan="10" style="color:orange; font-size:18px" %)[[**Telemetry**>>||anchor="HTelemetry"]]
204 204  |(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="text-align:center; width:75px" %)**RC**|(% style="text-align:center; width:75px" %)**Serial**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
205 -| |[[**Q**uery **V**oltage>>||anchor="QUERY_VOLTAGE"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QV|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mV|
206 -| |[[**Q**uery **T**emperature>>||anchor="QUERY_TEMP"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1/10°C|
207 -| |[[**Q**uery **C**urrent>>||anchor="QUERY_CURRENT"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QC|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mA|
208 -| |[[**Q**uery **M**odel **S**tring>>||anchor="QUERY_MODEL"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMS|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)
209 -| |[[**Q**uery **F**irmware Version>>||anchor="QUERY_FIRMWARE"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |
210 -| |[[**Q**uery Serial **N**umber>>||anchor="QUERY_SERIAL"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Returns the unique serial number for the servo
205 +| |[[**Q**uery **V**oltage>>||anchor="HQueryVoltage28QV29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QV|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mV|
206 +| |[[**Q**uery **T**emperature>>||anchor="HQueryTemperature28QT29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1/10°C|
207 +| |[[**Q**uery **C**urrent>>||anchor="HQueryCurrent28QC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QC|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mA|
208 +| |[[**Q**uery **M**odel **S**tring>>||anchor="HQueryModelString28QMS29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMS|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)
209 +| |[[**Q**uery **F**irmware Version>>||anchor="HQueryFirmware28QF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |
210 +| |[[**Q**uery Serial **N**umber>>||anchor="HQuerySerialNumber28QN29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Returns the unique serial number for the servo
211 211  
212 -|(% colspan="10" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="RGB_LED"]]
212 +|(% colspan="10" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="HRGBLED"]]
213 213  |(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="text-align:center; width:75px" %)**RC**|(% style="text-align:center; width:75px" %)**Serial**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
214 -| |[[**LED** Color>>||anchor="LED_COLOR"]]|(% style="text-align:center" %)LED|(% style="text-align:center" %)QLED|(% style="text-align:center" %)CLED|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓| |0 to 7 integer|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White
215 -| |[[**C**onfigure **L**ED **B**linking>>||anchor="LED_BLINK"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QLB|(% style="text-align:center" %)CLB|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓| |0 to 63 integer|Reset required after change. See command for details.
214 +| |[[**LED** Color>>||anchor="HLEDColor28LED29"]]|(% style="text-align:center" %)LED|(% style="text-align:center" %)QLED|(% style="text-align:center" %)CLED|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓| |0 to 7 integer|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White
215 +| |[[**C**onfigure **L**ED **B**linking>>||anchor="HConfigureLEDBlinking28CLB29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QLB|(% style="text-align:center" %)CLB|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓| |0 to 63 integer|Reset required after change. See command for details.
216 216  
217 217  = (% style="color:inherit; font-family:inherit" %)Details(%%) =
218 218  
219 -{{id name="COMMUNICATION_SETUP"/}}
220 -
221 221  == (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) ==
222 222  
223 -{{id name="RESET"/}}
224 -
225 225  ====== __Reset__ ======
226 226  
227 227  {{html wiki="true" clean="false"}}
... ... @@ -232,8 +232,6 @@
232 232  </div></div>
233 233  {{/html}}
234 234  
235 -{{id name="DEFAULT"/}}
236 -
237 237  ====== __Default & confirm__ ======
238 238  
239 239  {{html wiki="true" clean="false"}}
... ... @@ -250,8 +250,6 @@
250 250  </div></div>
251 251  {{/html}}
252 252  
253 -{{id name="UPDATE_CONFIRM"/}}
254 -
255 255  ====== __Update & confirm__ ======
256 256  
257 257  {{html wiki="true" clean="false"}}
... ... @@ -268,8 +268,6 @@
268 268  </div></div>
269 269  {{/html}}
270 270  
271 -{{id name="CONFIRM"/}}
272 -
273 273  ====== __Confirm__ ======
274 274  
275 275  {{html wiki="true" clean="false"}}
... ... @@ -282,8 +282,6 @@
282 282  </div></div>
283 283  {{/html}}
284 284  
285 -{{id name="CHANGE_RC"/}}
286 -
287 287  ====== __Configure RC Mode (**CRC**)__ ======
288 288  
289 289  {{html wiki="true" clean="false"}}
... ... @@ -303,8 +303,6 @@
303 303  </div></div>
304 304  {{/html}}
305 305  
306 -{{id name="ID"/}}
307 -
308 308  ====== __Identification Number (**ID**)__ ======
309 309  
310 310  {{html wiki="true" clean="false"}}
... ... @@ -325,8 +325,6 @@
325 325  </div></div>
326 326  {{/html}}
327 327  
328 -{{id name="BAUDRATE"/}}
329 -
330 330  ====== __Baud Rate__ ======
331 331  
332 332  {{html wiki="true" clean="false"}}
... ... @@ -349,12 +349,8 @@
349 349  </div></div>
350 350  {{/html}}
351 351  
352 -{{id name="MOTION"/}}
353 -
354 354  == Motion ==
355 355  
356 -{{id name="POSITION_D"/}}
357 -
358 358  ====== __Position in Degrees (**D**)__ ======
359 359  
360 360  {{html wiki="true" clean="false"}}
... ... @@ -380,8 +380,6 @@
380 380  <div class="wikimodel-emptyline"></div></div></div>
381 381  {{/html}}
382 382  
383 -{{id name="MOVE_D"/}}
384 -
385 385  ====== __(Relative) Move in Degrees (**MD**)__ ======
386 386  
387 387  {{html wiki="true" clean="false"}}
... ... @@ -392,8 +392,6 @@
392 392  <div class="wikimodel-emptyline"></div></div></div>
393 393  {{/html}}
394 394  
395 -{{id name="WHEEL_D"/}}
396 -
397 397  ====== __Wheel Mode in Degrees (**WD**)__ ======
398 398  
399 399  {{html wiki="true" clean="false"}}
... ... @@ -410,8 +410,6 @@
410 410  <div class="wikimodel-emptyline"></div></div></div>
411 411  {{/html}}
412 412  
413 -{{id name="WHEEL_RPM"/}}
414 -
415 415  ====== __Wheel Mode in RPM (**WR**)__ ======
416 416  
417 417  {{html wiki="true" clean="false"}}
... ... @@ -428,8 +428,6 @@
428 428  <div class="wikimodel-emptyline"></div></div></div>
429 429  {{/html}}
430 430  
431 -{{id name="POSITION_PWM"/}}
432 -
433 433  ====== __Position in PWM (**P**)__ ======
434 434  
435 435  {{html wiki="true" clean="false"}}
... ... @@ -447,8 +447,6 @@
447 447  <div class="wikimodel-emptyline"></div></div></div>
448 448  {{/html}}
449 449  
450 -{{id name="MOVE_PWM"/}}
451 -
452 452  ====== __(Relative) Move in PWM (**M**)__ ======
453 453  
454 454  {{html wiki="true" clean="false"}}
... ... @@ -459,8 +459,6 @@
459 459  <div class="wikimodel-emptyline"></div></div></div>
460 460  {{/html}}
461 461  
462 -{{id name="MOVE_RAW"/}}
463 -
464 464  ====== __Raw Duty-cycle Move (**RDM**)__ ======
465 465  
466 466  {{html wiki="true" clean="false"}}
... ... @@ -479,8 +479,6 @@
479 479  <div class="wikimodel-emptyline"></div></div></div>
480 480  {{/html}}
481 481  
482 -{{id name="QUERY_STATUS"/}}
483 -
484 484  ====== __Query Status (**Q**)__ ======
485 485  
486 486  {{html wiki="true" clean="false"}}
... ... @@ -520,8 +520,6 @@
520 520  | |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
521 521  | |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
522 522  
523 -{{id name="LIMP"/}}
524 -
525 525  ====== __Limp (**L**)__ ======
526 526  
527 527  {{html wiki="true" clean="false"}}
... ... @@ -532,8 +532,6 @@
532 532  <div class="wikimodel-emptyline"></div></div></div>
533 533  {{/html}}
534 534  
535 -{{id name="HALT_HOLD"/}}
536 -
537 537  ====== __Halt & Hold (**H**)__ ======
538 538  
539 539  {{html wiki="true" clean="false"}}
... ... @@ -544,12 +544,8 @@
544 544  <div class="wikimodel-emptyline"></div></div></div>
545 545  {{/html}}
546 546  
547 -{{id name="MOTION_SETUP"/}}
548 -
549 549  == Motion Setup ==
550 550  
551 -{{id name="MOTION_PROFILE"/}}
552 -
553 553  ====== __Enable Motion Profile (**EM**)__ ======
554 554  
555 555  {{html wiki="true" clean="false"}}
... ... @@ -576,8 +576,6 @@
576 576  <div class="wikimodel-emptyline"></div></div></div>
577 577  {{/html}}
578 578  
579 -{{id name="FILTER_POSITION_COUNT"/}}
580 -
581 581  ====== __Filter Position Count (**FPC**)__ ======
582 582  
583 583  {{html wiki="true" clean="false"}}
... ... @@ -599,8 +599,6 @@
599 599  <div class="wikimodel-emptyline"></div></div></div>
600 600  {{/html}}
601 601  
602 -{{id name="ORIGIN_OFFSET"/}}
603 -
604 604  ====== __Origin Offset (**O**)__ ======
605 605  
606 606  {{html wiki="true" clean="false"}}
... ... @@ -629,8 +629,6 @@
629 629  <div class="wikimodel-emptyline"></div></div></div>
630 630  {{/html}}
631 631  
632 -{{id name="ANGULAR_RANGE"/}}
633 -
634 634  ====== __Angular Range (**AR**)__ ======
635 635  
636 636  {{html wiki="true" clean="false"}}
... ... @@ -659,8 +659,6 @@
659 659  <div class="wikimodel-emptyline"></div></div></div>
660 660  {{/html}}
661 661  
662 -{{id name="ANGULAR_STIFFNESS"/}}
663 -
664 664  ====== __Angular Stiffness (**AS**)__ ======
665 665  
666 666  {{html wiki="true" clean="false"}}
... ... @@ -693,8 +693,6 @@
693 693  <div class="wikimodel-emptyline"></div></div></div>
694 694  {{/html}}
695 695  
696 -{{id name="ANGULAR_HOLDING_STIFFNESS"/}}
697 -
698 698  ====== __Angular Holding Stiffness (**AH**)__ ======
699 699  
700 700  {{html wiki="true" clean="false"}}
... ... @@ -719,8 +719,6 @@
719 719  <div class="wikimodel-emptyline"></div></div></div>
720 720  {{/html}}
721 721  
722 -{{id name="ANGULAR_ACCELERATION"/}}
723 -
724 724  ====== __Angular Acceleration (**AA**)__ ======
725 725  
726 726  {{html wiki="true" clean="false"}}
... ... @@ -745,8 +745,6 @@
745 745  <div class="wikimodel-emptyline"></div></div></div>
746 746  {{/html}}
747 747  
748 -{{id name="ANGULAR_DECELERATION"/}}
749 -
750 750  ====== __Angular Deceleration (**AD**)__ ======
751 751  
752 752  {{html wiki="true" clean="false"}}
... ... @@ -771,8 +771,6 @@
771 771  <div class="wikimodel-emptyline"></div></div></div>
772 772  {{/html}}
773 773  
774 -{{id name="GYRE_DIRECTION"/}}
775 -
776 776  ====== __Gyre Direction (**G**)__ ======
777 777  
778 778  {{html wiki="true" clean="false"}}
... ... @@ -797,8 +797,6 @@
797 797  <div class="wikimodel-emptyline"></div></div></div>
798 798  {{/html}}
799 799  
800 -{{id name="FIRST_POSITION"/}}
801 -
802 802  ====== __First Position__ ======
803 803  
804 804  {{html wiki="true" clean="false"}}
... ... @@ -819,8 +819,6 @@
819 819  <div class="wikimodel-emptyline"></div></div></div>
820 820  {{/html}}
821 821  
822 -{{id name="MAXIMUM_RAW"/}}
823 -
824 824  ====== __Maximum Motor Duty (**MMD**)__ ======
825 825  
826 826  {{html wiki="true" clean="false"}}
... ... @@ -839,8 +839,6 @@
839 839  <div class="wikimodel-emptyline"></div></div></div>
840 840  {{/html}}
841 841  
842 -{{id name="MAXIMUM_SPEED_D"/}}
843 -
844 844  ====== __Maximum Speed in Degrees (**SD**)__ ======
845 845  
846 846  {{html wiki="true" clean="false"}}
... ... @@ -867,8 +867,6 @@
867 867  </div></div>
868 868  {{/html}}
869 869  
870 -{{id name="MAXIMUM_SPEED_RPM"/}}
871 -
872 872  ====== __Maximum Speed in RPM (**SR**)__ ======
873 873  
874 874  {{html wiki="true" clean="false"}}
... ... @@ -895,12 +895,8 @@
895 895  </div></div>
896 896  {{/html}}
897 897  
898 -{{id name="MODIFIERS"/}}
899 -
900 900  == Modifiers ==
901 901  
902 -{{id name="SPEEDS"/}}
903 -
904 904  ====== __Speed (**S**, **SD**) modifier__ ======
905 905  
906 906  {{html wiki="true" clean="false"}}
... ... @@ -915,8 +915,6 @@
915 915  </div></div>
916 916  {{/html}}
917 917  
918 -{{id name="TIMED_MOVE"/}}
919 -
920 920  ====== __Timed move (**T**) modifier__ ======
921 921  
922 922  {{html wiki="true" clean="false"}}
... ... @@ -928,8 +928,6 @@
928 928  </div></div>
929 929  {{/html}}
930 930  
931 -{{id name="CURRENT_HOLD"/}}
932 -
933 933  ====== __Current Halt & Hold (**CH**) modifier__ ======
934 934  
935 935  {{html wiki="true" clean="false"}}
... ... @@ -941,8 +941,6 @@
941 941  </div></div>
942 942  {{/html}}
943 943  
944 -{{id name="CURRENT_LIMP"/}}
945 -
946 946  ====== __Current Limp (**CL**) modifier__ ======
947 947  
948 948  {{html wiki="true" clean="false"}}
... ... @@ -954,12 +954,8 @@
954 954  </div></div>
955 955  {{/html}}
956 956  
957 -{{id name="TELEMETRY"/}}
958 -
959 959  == Telemetry ==
960 960  
961 -{{id name="QUERY_VOLTAGE"/}}
962 -
963 963  ====== __Query Voltage (**QV**)__ ======
964 964  
965 965  {{html wiki="true" clean="false"}}
... ... @@ -969,8 +969,6 @@
969 969  </div></div>
970 970  {{/html}}
971 971  
972 -{{id name="QUERY_TEMP"/}}
973 -
974 974  ====== __Query Temperature (**QT**)__ ======
975 975  
976 976  {{html wiki="true" clean="false"}}
... ... @@ -980,8 +980,6 @@
980 980  </div></div>
981 981  {{/html}}
982 982  
983 -{{id name="QUERY_CURRENT"/}}
984 -
985 985  ====== __Query Current (**QC**)__ ======
986 986  
987 987  {{html wiki="true" clean="false"}}
... ... @@ -991,8 +991,6 @@
991 991  </div></div>
992 992  {{/html}}
993 993  
994 -{{id name="QUERY_MODEL"/}}
995 -
996 996  ====== __Query Model String (**QMS**)__ ======
997 997  
998 998  {{html wiki="true" clean="false"}}
... ... @@ -1002,8 +1002,6 @@
1002 1002  </div></div>
1003 1003  {{/html}}
1004 1004  
1005 -{{id name="QUERY_FIRMWARE"/}}
1006 -
1007 1007  ====== __Query Firmware (**QF**)__ ======
1008 1008  
1009 1009  {{html wiki="true" clean="false"}}
... ... @@ -1014,8 +1014,6 @@
1014 1014  </div></div>
1015 1015  {{/html}}
1016 1016  
1017 -{{id name="QUERY_SERIAL"/}}
1018 -
1019 1019  ====== __Query Serial Number (**QN**)__ ======
1020 1020  
1021 1021  {{html wiki="true" clean="false"}}
... ... @@ -1025,12 +1025,8 @@
1025 1025  </div></div>
1026 1026  {{/html}}
1027 1027  
1028 -{{id name="RGB_LED"/}}
1029 -
1030 1030  == RGB LED ==
1031 1031  
1032 -{{id name="LED_COLOR"/}}
1033 -
1034 1034  ====== __LED Color (**LED**)__ ======
1035 1035  
1036 1036  {{html wiki="true" clean="false"}}
... ... @@ -1047,8 +1047,6 @@
1047 1047  </div></div>
1048 1048  {{/html}}
1049 1049  
1050 -{{id name="LED_BLINK"/}}
1051 -
1052 1052  ====== __Configure LED Blinking (**CLB**)__ ======
1053 1053  
1054 1054  {{html wiki="true" clean="false"}}

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