Last modified by Eric Nantel on 2025/06/06 07:47
From version < 193.1 >
edited by Eric Nantel
on 2020/05/04 10:38
To version < 190.1 >
edited by Eric Nantel
on 2020/05/01 12:21
< >
Change comment: Uploaded new attachment "LSS-Protocol-Backup-2020-05-01.zip", version 1.1

Summary

Details

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Content
... ... @@ -11,11 +11,11 @@
11 11  
12 12  == Session ==
13 13  
14 -{{html clean="false" wiki="true"}}
14 +{{html wiki="true" clean="false"}}
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>
18 +**Note #1:** For a given session, the action related to a specific commands overrides the stored value in EEPROM.<div class="wikimodel-emptyline"></div>
19 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 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.
21 21  <div class="wikimodel-emptyline"></div></div></div>
... ... @@ -153,92 +153,93 @@
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="HCommunicationSetup"]]
156 +|(% colspan="10" style="color:orange; font-size:18px" %)[[**Communication Setup**>>||anchor="COMMUNICATION_SETUP"]]
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="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 -| |[[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="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.
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
160 +| |[[Firmware **Update** Mode>>||anchor="UPDATE_CONFIRM"]]|(% 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.
165 165  
166 -|(% colspan="10" style="color:orange; font-size:18px" %)[[**Motion**>>||anchor="HMotion"]]
166 +|(% colspan="10" style="color:orange; font-size:18px" %)[[**Motion**>>||anchor="MOTION"]]
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="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" %)✓| | |
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" %)✓| | |
178 178  
179 -|(% colspan="10" style="color:orange; font-size:18px" %)[[**Motion Setup**>>||anchor="HMotionSetup"]]
179 +|(% colspan="10" style="color:orange; font-size:18px" %)[[**Motion Setup**>>||anchor="MOTION_SETUP"]]
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="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
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
194 194  
195 -|(% colspan="10" style="color:orange; font-size:18px" %)[[**Modifiers**>>||anchor="HModifiers"]]
195 +|(% colspan="10" style="color:orange; font-size:18px" %)[[**Modifiers**>>||anchor="MODIFIERS"]]
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="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
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
202 202  
203 -|(% colspan="10" style="color:orange; font-size:18px" %)[[**Telemetry**>>||anchor="HTelemetry"]]
203 +|(% colspan="10" style="color:orange; font-size:18px" %)[[**Telemetry**>>||anchor="TELEMETRY"]]
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="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
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
211 211  
212 -|(% colspan="10" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="HRGBLED"]]
212 +|(% colspan="10" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="RGB_LED"]]
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="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.
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.
216 216  
217 217  = (% style="color:inherit; font-family:inherit" %)Details(%%) =
218 218  
219 -{{id name="COMMUNICATION_SETUP"/}}
220 -
219 +{{id name="COMMUNICATION_SETUP" /}}
221 221  == (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) ==
222 222  
222 +{{id name="RESET" /}}
223 223  ====== __Reset__ ======
224 224  
225 225  {{html wiki="true" clean="false"}}
226 226  <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
227 -Ex: #5RESET&lt;cr&gt;<div class="wikimodel-emptyline"></div>
227 +Ex: #5RESET<cr><div class="wikimodel-emptyline"></div>
228 228  This command does a "soft reset" and reverts all commands to those stored in EEPROM (i.e. configuration commands).
229 229  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.<div class="wikimodel-emptyline"></div>
230 230  </div></div>
231 231  {{/html}}
232 232  
233 +{{id name="DEFAULT" /}}
233 233  ====== __Default & confirm__ ======
234 234  
235 235  {{html wiki="true" clean="false"}}
236 236  <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
237 -Ex: #5DEFAULT&lt;cr&gt;<div class="wikimodel-emptyline"></div>
238 +Ex: #5DEFAULT<cr><div class="wikimodel-emptyline"></div>
238 238  
239 239  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.<div class="wikimodel-emptyline"></div>
240 240  
241 -EX: #5DEFAULT&lt;cr&gt; followed by #5CONFIRM&lt;cr&gt;<div class="wikimodel-emptyline"></div>
242 +EX: #5DEFAULT<cr> followed by #5CONFIRM<cr><div class="wikimodel-emptyline"></div>
242 242  
243 243  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.<div class="wikimodel-emptyline"></div>
244 244  
... ... @@ -246,15 +246,16 @@
246 246  </div></div>
247 247  {{/html}}
248 248  
250 +{{id name="UPDATE_CONFIRM" /}}
249 249  ====== __Update & confirm__ ======
250 250  
251 251  {{html wiki="true" clean="false"}}
252 252  <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
253 -Ex: #5UPDATE&lt;cr&gt;<div class="wikimodel-emptyline"></div>
255 +Ex: #5UPDATE<cr><div class="wikimodel-emptyline"></div>
254 254  
255 255  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.<div class="wikimodel-emptyline"></div>
256 256  
257 -EX: #5UPDATE&lt;cr&gt; followed by #5CONFIRM&lt;cr&gt;<div class="wikimodel-emptyline"></div>
259 +EX: #5UPDATE<cr> followed by #5CONFIRM<cr><div class="wikimodel-emptyline"></div>
258 258  
259 259  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.<div class="wikimodel-emptyline"></div>
260 260  
... ... @@ -262,6 +262,7 @@
262 262  </div></div>
263 263  {{/html}}
264 264  
267 +{{id name="CONFIRM" /}}
265 265  ====== __Confirm__ ======
266 266  
267 267  {{html wiki="true" clean="false"}}
... ... @@ -274,6 +274,7 @@
274 274  </div></div>
275 275  {{/html}}
276 276  
280 +{{id name="CHANGE_RC" /}}
277 277  ====== __Configure RC Mode (**CRC**)__ ======
278 278  
279 279  {{html wiki="true" clean="false"}}
... ... @@ -281,18 +281,19 @@
281 281  This command puts the servo into RC mode (position or continuous), where it will only respond to RC PWM signal on the servo's Rx pin. In this mode, the servo will no longer accept serial commands. The servo can be placed back into smart mode by using the button menu.<div class="wikimodel-emptyline"></div>
282 282  
283 283  |**Command sent**|**Note**
284 -|ex: #5CRC1&lt;cr&gt;|Change to RC position mode.
285 -|ex: #5CRC2&lt;cr&gt;|Change to RC continuous rotation (wheel) mode.
286 -|ex: #5CRC*&lt;cr&gt;|Where * is any value other than 1 or 2 (or no value): stay in smart mode.<div class="wikimodel-emptyline"></div>
288 +|ex: #5CRC1<cr>|Change to RC position mode.
289 +|ex: #5CRC2<cr>|Change to RC continuous rotation (wheel) mode.
290 +|ex: #5CRC*<cr>|Where * is any value other than 1 or 2 (or no value): stay in smart mode.<div class="wikimodel-emptyline"></div>
287 287  
288 -EX: #5CRC2&lt;cr&gt;<div class="wikimodel-emptyline"></div>
292 +EX: #5CRC2<cr><div class="wikimodel-emptyline"></div>
289 289  
290 -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&lt;cr&gt; or #5CRC3&lt;cr&gt; which requests that the servo remain in serial mode still requires a RESET command.<div class="wikimodel-emptyline"></div>
294 +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.<div class="wikimodel-emptyline"></div>
291 291  
292 292  **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.<div class="wikimodel-emptyline"></div>
293 293  </div></div>
294 294  {{/html}}
295 295  
300 +{{id name="ID" /}}
296 296  ====== __Identification Number (**ID**)__ ======
297 297  
298 298  {{html wiki="true" clean="false"}}
... ... @@ -301,18 +301,19 @@
301 301  
302 302  Query Identification (**QID**)<div class="wikimodel-emptyline"></div>
303 303  
304 -EX: #254QID&lt;cr&gt; might return *QID5&lt;cr&gt;<div class="wikimodel-emptyline"></div>
309 +EX: #254QID<cr> might return *QID5<cr><div class="wikimodel-emptyline"></div>
305 305  
306 306  When using the broadcast 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. 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.<div class="wikimodel-emptyline"></div>
307 307  
308 308  Configure ID (**CID**)<div class="wikimodel-emptyline"></div>
309 309  
310 -Ex: #4CID5&lt;cr&gt;<div class="wikimodel-emptyline"></div>
315 +Ex: #4CID5<cr><div class="wikimodel-emptyline"></div>
311 311  
312 312  Setting a servo's ID in EEPROM is done via the CID command. All servos connected to the same serial bus that have 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.<div class="wikimodel-emptyline"></div>
313 313  </div></div>
314 314  {{/html}}
315 315  
321 +{{id name="BAUDRATE" /}}
316 316  ====== __Baud Rate__ ======
317 317  
318 318  {{html wiki="true" clean="false"}}
... ... @@ -321,7 +321,7 @@
321 321  
322 322  Query Baud Rate (**QB**)<div class="wikimodel-emptyline"></div>
323 323  
324 -Ex: #5QB&lt;cr&gt; might return *5QB115200&lt;cr&gt;<div class="wikimodel-emptyline"></div>
330 +Ex: #5QB<cr> might return *5QB115200<cr><div class="wikimodel-emptyline"></div>
325 325  
326 326  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.<div class="wikimodel-emptyline"></div>
327 327  
... ... @@ -329,16 +329,16 @@
329 329  
330 330  **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.<div class="wikimodel-emptyline"></div>
331 331  
332 -Ex: #5CB9600&lt;cr&gt;<div class="wikimodel-emptyline"></div>
338 +Ex: #5CB9600<cr><div class="wikimodel-emptyline"></div>
333 333  
334 334  Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.<div class="wikimodel-emptyline"></div>
335 335  </div></div>
336 336  {{/html}}
337 337  
338 -{{id name="MOTION"/}}
339 -
344 +{{id name="MOTION" /}}
340 340  == Motion ==
341 341  
347 +{{id name="POSITION_D" /}}
342 342  ====== __Position in Degrees (**D**)__ ======
343 343  
344 344  {{html wiki="true" clean="false"}}
... ... @@ -364,6 +364,7 @@
364 364  <div class="wikimodel-emptyline"></div></div></div>
365 365  {{/html}}
366 366  
373 +{{id name="MOVE_D" /}}
367 367  ====== __(Relative) Move in Degrees (**MD**)__ ======
368 368  
369 369  {{html wiki="true" clean="false"}}
... ... @@ -374,6 +374,7 @@
374 374  <div class="wikimodel-emptyline"></div></div></div>
375 375  {{/html}}
376 376  
384 +{{id name="WHEEL_D" /}}
377 377  ====== __Wheel Mode in Degrees (**WD**)__ ======
378 378  
379 379  {{html wiki="true" clean="false"}}
... ... @@ -390,6 +390,7 @@
390 390  <div class="wikimodel-emptyline"></div></div></div>
391 391  {{/html}}
392 392  
401 +{{id name="WHEEL_RPM" /}}
393 393  ====== __Wheel Mode in RPM (**WR**)__ ======
394 394  
395 395  {{html wiki="true" clean="false"}}
... ... @@ -406,6 +406,7 @@
406 406  <div class="wikimodel-emptyline"></div></div></div>
407 407  {{/html}}
408 408  
418 +{{id name="POSITION_PWM" /}}
409 409  ====== __Position in PWM (**P**)__ ======
410 410  
411 411  {{html wiki="true" clean="false"}}
... ... @@ -423,6 +423,7 @@
423 423  <div class="wikimodel-emptyline"></div></div></div>
424 424  {{/html}}
425 425  
436 +{{id name="MOVE_PWM" /}}
426 426  ====== __(Relative) Move in PWM (**M**)__ ======
427 427  
428 428  {{html wiki="true" clean="false"}}
... ... @@ -433,6 +433,7 @@
433 433  <div class="wikimodel-emptyline"></div></div></div>
434 434  {{/html}}
435 435  
447 +{{id name="MOVE_RAW" /}}
436 436  ====== __Raw Duty-cycle Move (**RDM**)__ ======
437 437  
438 438  {{html wiki="true" clean="false"}}
... ... @@ -451,6 +451,7 @@
451 451  <div class="wikimodel-emptyline"></div></div></div>
452 452  {{/html}}
453 453  
466 +{{id name="QUERY_STATUS" /}}
454 454  ====== __Query Status (**Q**)__ ======
455 455  
456 456  {{html wiki="true" clean="false"}}
... ... @@ -490,6 +490,7 @@
490 490  | |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
491 491  | |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
492 492  
506 +{{id name="LIMP" /}}
493 493  ====== __Limp (**L**)__ ======
494 494  
495 495  {{html wiki="true" clean="false"}}
... ... @@ -500,6 +500,7 @@
500 500  <div class="wikimodel-emptyline"></div></div></div>
501 501  {{/html}}
502 502  
517 +{{id name="HALT_HOLD" /}}
503 503  ====== __Halt & Hold (**H**)__ ======
504 504  
505 505  {{html wiki="true" clean="false"}}
... ... @@ -510,10 +510,10 @@
510 510  <div class="wikimodel-emptyline"></div></div></div>
511 511  {{/html}}
512 512  
513 -{{id name="MOTION_SETUP"/}}
514 -
528 +{{id name="MOTION_SETUP" /}}
515 515  == Motion Setup ==
516 516  
531 +{{id name="MOTION_PROFILE" /}}
517 517  ====== __Enable Motion Profile (**EM**)__ ======
518 518  
519 519  {{html wiki="true" clean="false"}}
... ... @@ -540,6 +540,7 @@
540 540  <div class="wikimodel-emptyline"></div></div></div>
541 541  {{/html}}
542 542  
558 +{{id name="FILTER_POSITION_COUNT" /}}
543 543  ====== __Filter Position Count (**FPC**)__ ======
544 544  
545 545  {{html wiki="true" clean="false"}}
... ... @@ -561,6 +561,7 @@
561 561  <div class="wikimodel-emptyline"></div></div></div>
562 562  {{/html}}
563 563  
580 +{{id name="ORIGIN_OFFSET" /}}
564 564  ====== __Origin Offset (**O**)__ ======
565 565  
566 566  {{html wiki="true" clean="false"}}
... ... @@ -589,6 +589,7 @@
589 589  <div class="wikimodel-emptyline"></div></div></div>
590 590  {{/html}}
591 591  
609 +{{id name="ANGULAR_RANGE" /}}
592 592  ====== __Angular Range (**AR**)__ ======
593 593  
594 594  {{html wiki="true" clean="false"}}
... ... @@ -617,6 +617,7 @@
617 617  <div class="wikimodel-emptyline"></div></div></div>
618 618  {{/html}}
619 619  
638 +{{id name="ANGULAR_STIFFNESS" /}}
620 620  ====== __Angular Stiffness (**AS**)__ ======
621 621  
622 622  {{html wiki="true" clean="false"}}
... ... @@ -649,6 +649,7 @@
649 649  <div class="wikimodel-emptyline"></div></div></div>
650 650  {{/html}}
651 651  
671 +{{id name="ANGULAR_HOLDING_STIFFNESS" /}}
652 652  ====== __Angular Holding Stiffness (**AH**)__ ======
653 653  
654 654  {{html wiki="true" clean="false"}}
... ... @@ -673,6 +673,7 @@
673 673  <div class="wikimodel-emptyline"></div></div></div>
674 674  {{/html}}
675 675  
696 +{{id name="ANGULAR_ACCELERATION" /}}
676 676  ====== __Angular Acceleration (**AA**)__ ======
677 677  
678 678  {{html wiki="true" clean="false"}}
... ... @@ -697,6 +697,7 @@
697 697  <div class="wikimodel-emptyline"></div></div></div>
698 698  {{/html}}
699 699  
721 +{{id name="ANGULAR_DECELERATION" /}}
700 700  ====== __Angular Deceleration (**AD**)__ ======
701 701  
702 702  {{html wiki="true" clean="false"}}
... ... @@ -721,6 +721,7 @@
721 721  <div class="wikimodel-emptyline"></div></div></div>
722 722  {{/html}}
723 723  
746 +{{id name="GYRE_DIRECTION" /}}
724 724  ====== __Gyre Direction (**G**)__ ======
725 725  
726 726  {{html wiki="true" clean="false"}}
... ... @@ -745,6 +745,7 @@
745 745  <div class="wikimodel-emptyline"></div></div></div>
746 746  {{/html}}
747 747  
771 +{{id name="FIRST_POSITION" /}}
748 748  ====== __First Position__ ======
749 749  
750 750  {{html wiki="true" clean="false"}}
... ... @@ -759,12 +759,13 @@
759 759  
760 760  Configure First Position in Degrees (**CFD**)<div class="wikimodel-emptyline"></div>
761 761  
762 -Ex: #5CFD900&lt;cr&gt;<div class="wikimodel-emptyline"></div>
786 +Ex: #5CD900&lt;cr&gt;<div class="wikimodel-emptyline"></div>
763 763  
764 764  This configuration command means the servo, when set to smart mode, will immediately move to 90.0 degrees upon power up. Sending a CFD command without a number (Ex. #5CFD&lt;cr&gt;) results in the servo remaining limp upon power up. In order to remove the first position, send no value, ex: #5CFD&lt;cr&gt;
765 765  <div class="wikimodel-emptyline"></div></div></div>
766 766  {{/html}}
767 767  
792 +{{id name="MAXIMUM_RAW" /}}
768 768  ====== __Maximum Motor Duty (**MMD**)__ ======
769 769  
770 770  {{html wiki="true" clean="false"}}
... ... @@ -771,10 +771,6 @@
771 771  <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
772 772  This command allows the user to limit the duty cycle value sent from the servo's MCU to the DC Motor driver. The duty cycle limit value can be within the range of 255 to 1023. The default value is 1023. A typical use-case for this command is active compliance.<div class="wikimodel-emptyline"></div>
773 773  
774 -Ex: #5MMD512&lt;cr&gt;<div class="wikimodel-emptyline"></div>
775 -
776 -This will set the duty-cycle to 512 for servo with ID 5 for that session.<div class="wikimodel-emptyline"></div>
777 -
778 778  Query Maximum Motor Duty (**QMMD**)<div class="wikimodel-emptyline"></div>
779 779  
780 780  Ex: #5QMMDD&lt;cr&gt; might return *5QMMD512&lt;cr&gt; <div class="wikimodel-emptyline"></div>
... ... @@ -783,6 +783,7 @@
783 783  <div class="wikimodel-emptyline"></div></div></div>
784 784  {{/html}}
785 785  
807 +{{id name="MAXIMUM_SPEED_D" /}}
786 786  ====== __Maximum Speed in Degrees (**SD**)__ ======
787 787  
788 788  {{html wiki="true" clean="false"}}
... ... @@ -809,6 +809,7 @@
809 809  </div></div>
810 810  {{/html}}
811 811  
834 +{{id name="MAXIMUM_SPEED_RPM" /}}
812 812  ====== __Maximum Speed in RPM (**SR**)__ ======
813 813  
814 814  {{html wiki="true" clean="false"}}
... ... @@ -835,10 +835,10 @@
835 835  </div></div>
836 836  {{/html}}
837 837  
838 -{{id name="MODIFIERS"/}}
839 -
861 +{{id name="MODIFIERS" /}}
840 840  == Modifiers ==
841 841  
864 +{{id name="SPEEDS" /}}
842 842  ====== __Speed (**S**, **SD**) modifier__ ======
843 843  
844 844  {{html wiki="true" clean="false"}}
... ... @@ -853,6 +853,7 @@
853 853  </div></div>
854 854  {{/html}}
855 855  
879 +{{id name="TIMED_MOVE" /}}
856 856  ====== __Timed move (**T**) modifier__ ======
857 857  
858 858  {{html wiki="true" clean="false"}}
... ... @@ -864,6 +864,7 @@
864 864  </div></div>
865 865  {{/html}}
866 866  
891 +{{id name="CURRENT_HOLD" /}}
867 867  ====== __Current Halt & Hold (**CH**) modifier__ ======
868 868  
869 869  {{html wiki="true" clean="false"}}
... ... @@ -875,6 +875,7 @@
875 875  </div></div>
876 876  {{/html}}
877 877  
903 +{{id name="CURRENT_LIMP" /}}
878 878  ====== __Current Limp (**CL**) modifier__ ======
879 879  
880 880  {{html wiki="true" clean="false"}}
... ... @@ -886,10 +886,10 @@
886 886  </div></div>
887 887  {{/html}}
888 888  
889 -{{id name="TELEMETRY"/}}
890 -
915 +{{id name="TELEMETRY" /}}
891 891  == Telemetry ==
892 892  
918 +{{id name="QUERY_VOLTAGE" /}}
893 893  ====== __Query Voltage (**QV**)__ ======
894 894  
895 895  {{html wiki="true" clean="false"}}
... ... @@ -899,6 +899,7 @@
899 899  </div></div>
900 900  {{/html}}
901 901  
928 +{{id name="QUERY_TEMP" /}}
902 902  ====== __Query Temperature (**QT**)__ ======
903 903  
904 904  {{html wiki="true" clean="false"}}
... ... @@ -908,6 +908,7 @@
908 908  </div></div>
909 909  {{/html}}
910 910  
938 +{{id name="QUERY_CURRENT" /}}
911 911  ====== __Query Current (**QC**)__ ======
912 912  
913 913  {{html wiki="true" clean="false"}}
... ... @@ -917,6 +917,7 @@
917 917  </div></div>
918 918  {{/html}}
919 919  
948 +{{id name="QUERY_MODEL" /}}
920 920  ====== __Query Model String (**QMS**)__ ======
921 921  
922 922  {{html wiki="true" clean="false"}}
... ... @@ -926,6 +926,7 @@
926 926  </div></div>
927 927  {{/html}}
928 928  
958 +{{id name="QUERY_FIRMWARE" /}}
929 929  ====== __Query Firmware (**QF**)__ ======
930 930  
931 931  {{html wiki="true" clean="false"}}
... ... @@ -936,6 +936,7 @@
936 936  </div></div>
937 937  {{/html}}
938 938  
969 +{{id name="QUERY_SERIAL" /}}
939 939  ====== __Query Serial Number (**QN**)__ ======
940 940  
941 941  {{html wiki="true" clean="false"}}
... ... @@ -945,10 +945,10 @@
945 945  </div></div>
946 946  {{/html}}
947 947  
948 -{{id name="RGB_LED"/}}
949 -
979 +{{id name="RGB_LED" /}}
950 950  == RGB LED ==
951 951  
982 +{{id name="LED_COLOR" /}}
952 952  ====== __LED Color (**LED**)__ ======
953 953  
954 954  {{html wiki="true" clean="false"}}
... ... @@ -965,6 +965,7 @@
965 965  </div></div>
966 966  {{/html}}
967 967  
999 +{{id name="LED_BLINK" /}}
968 968  ====== __Configure LED Blinking (**CLB**)__ ======
969 969  
970 970  {{html wiki="true" clean="false"}}
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