Last modified by Eric Nantel on 2025/06/06 07:47
From version < 194.2 >
edited by Coleman Benson
on 2020/05/11 14:59
To version < 190.3 >
edited by Brahim Daouas
on 2020/05/01 12:24
< >
Change comment: There is no comment for this version

Summary

Details

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1 -xwiki:XWiki.CBenson
1 +xwiki:XWiki.BDaouas
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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 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.
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.
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>
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.
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 +**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.
21 21  <div class="wikimodel-emptyline"></div></div></div>
22 22  {{/html}}
23 23  
24 24  == Action Commands ==
25 25  
26 -{{html clean="false" wiki="true"}}
26 +{{html wiki="true" clean="false"}}
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"]] (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>
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>
29 29  
30 30  1. Start with a number sign **#** (Unicode Character: U+0023)
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)
31 +1. Servo ID number as an integer
32 +1. Action command (one or more letters, no whitespace, capital or lower case)
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 clean="false" wiki="true"}}
45 +{{html wiki="true" clean="false"}}
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 lowercase from a subset of action commands below)
51 +1. Action command (one to three letters, no spaces, capital or lower case)
52 52  1. Action value in the correct units with no decimal
53 -1. Modifier command (one or two letters from the list of modifiers below)
53 +1. Modifier command (one letter to too letters)
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 clean="false" wiki="true"}}
65 +{{html wiki="true" clean="false"}}
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 the position in (tenth of) degrees for servo with ID #5<div class="wikimodel-emptyline"></div>
74 +Ex: #5QD&lt;cr&gt; Query position in (tenth of) degrees for servo #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 clean="false" wiki="true"}}
94 +{{html wiki="true" clean="false"}}
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 of the 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 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  
... ... @@ -153,71 +153,75 @@
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 +
219 219  == (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) ==
220 220  
223 +{{id name="RESET"/}}
224 +
221 221  ====== __Reset__ ======
222 222  
223 223  {{html wiki="true" clean="false"}}
... ... @@ -228,6 +228,8 @@
228 228  </div></div>
229 229  {{/html}}
230 230  
235 +{{id name="DEFAULT"/}}
236 +
231 231  ====== __Default & confirm__ ======
232 232  
233 233  {{html wiki="true" clean="false"}}
... ... @@ -244,6 +244,8 @@
244 244  </div></div>
245 245  {{/html}}
246 246  
253 +{{id name="UPDATE_CONFIRM"/}}
254 +
247 247  ====== __Update & confirm__ ======
248 248  
249 249  {{html wiki="true" clean="false"}}
... ... @@ -260,6 +260,8 @@
260 260  </div></div>
261 261  {{/html}}
262 262  
271 +{{id name="CONFIRM"/}}
272 +
263 263  ====== __Confirm__ ======
264 264  
265 265  {{html wiki="true" clean="false"}}
... ... @@ -272,6 +272,8 @@
272 272  </div></div>
273 273  {{/html}}
274 274  
285 +{{id name="CHANGE_RC"/}}
286 +
275 275  ====== __Configure RC Mode (**CRC**)__ ======
276 276  
277 277  {{html wiki="true" clean="false"}}
... ... @@ -291,6 +291,8 @@
291 291  </div></div>
292 292  {{/html}}
293 293  
306 +{{id name="ID"/}}
307 +
294 294  ====== __Identification Number (**ID**)__ ======
295 295  
296 296  {{html wiki="true" clean="false"}}
... ... @@ -311,6 +311,8 @@
311 311  </div></div>
312 312  {{/html}}
313 313  
328 +{{id name="BAUDRATE"/}}
329 +
314 314  ====== __Baud Rate__ ======
315 315  
316 316  {{html wiki="true" clean="false"}}
... ... @@ -333,8 +333,12 @@
333 333  </div></div>
334 334  {{/html}}
335 335  
352 +{{id name="MOTION"/}}
353 +
336 336  == Motion ==
337 337  
356 +{{id name="POSITION_D"/}}
357 +
338 338  ====== __Position in Degrees (**D**)__ ======
339 339  
340 340  {{html wiki="true" clean="false"}}
... ... @@ -360,6 +360,8 @@
360 360  <div class="wikimodel-emptyline"></div></div></div>
361 361  {{/html}}
362 362  
383 +{{id name="MOVE_D"/}}
384 +
363 363  ====== __(Relative) Move in Degrees (**MD**)__ ======
364 364  
365 365  {{html wiki="true" clean="false"}}
... ... @@ -370,6 +370,8 @@
370 370  <div class="wikimodel-emptyline"></div></div></div>
371 371  {{/html}}
372 372  
395 +{{id name="WHEEL_D"/}}
396 +
373 373  ====== __Wheel Mode in Degrees (**WD**)__ ======
374 374  
375 375  {{html wiki="true" clean="false"}}
... ... @@ -386,6 +386,8 @@
386 386  <div class="wikimodel-emptyline"></div></div></div>
387 387  {{/html}}
388 388  
413 +{{id name="WHEEL_RPM"/}}
414 +
389 389  ====== __Wheel Mode in RPM (**WR**)__ ======
390 390  
391 391  {{html wiki="true" clean="false"}}
... ... @@ -402,6 +402,8 @@
402 402  <div class="wikimodel-emptyline"></div></div></div>
403 403  {{/html}}
404 404  
431 +{{id name="POSITION_PWM"/}}
432 +
405 405  ====== __Position in PWM (**P**)__ ======
406 406  
407 407  {{html wiki="true" clean="false"}}
... ... @@ -419,6 +419,8 @@
419 419  <div class="wikimodel-emptyline"></div></div></div>
420 420  {{/html}}
421 421  
450 +{{id name="MOVE_PWM"/}}
451 +
422 422  ====== __(Relative) Move in PWM (**M**)__ ======
423 423  
424 424  {{html wiki="true" clean="false"}}
... ... @@ -429,6 +429,8 @@
429 429  <div class="wikimodel-emptyline"></div></div></div>
430 430  {{/html}}
431 431  
462 +{{id name="MOVE_RAW"/}}
463 +
432 432  ====== __Raw Duty-cycle Move (**RDM**)__ ======
433 433  
434 434  {{html wiki="true" clean="false"}}
... ... @@ -447,6 +447,8 @@
447 447  <div class="wikimodel-emptyline"></div></div></div>
448 448  {{/html}}
449 449  
482 +{{id name="QUERY_STATUS"/}}
483 +
450 450  ====== __Query Status (**Q**)__ ======
451 451  
452 452  {{html wiki="true" clean="false"}}
... ... @@ -486,6 +486,8 @@
486 486  | |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
487 487  | |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
488 488  
523 +{{id name="LIMP"/}}
524 +
489 489  ====== __Limp (**L**)__ ======
490 490  
491 491  {{html wiki="true" clean="false"}}
... ... @@ -496,6 +496,8 @@
496 496  <div class="wikimodel-emptyline"></div></div></div>
497 497  {{/html}}
498 498  
535 +{{id name="HALT_HOLD"/}}
536 +
499 499  ====== __Halt & Hold (**H**)__ ======
500 500  
501 501  {{html wiki="true" clean="false"}}
... ... @@ -506,8 +506,12 @@
506 506  <div class="wikimodel-emptyline"></div></div></div>
507 507  {{/html}}
508 508  
547 +{{id name="MOTION_SETUP"/}}
548 +
509 509  == Motion Setup ==
510 510  
551 +{{id name="MOTION_PROFILE"/}}
552 +
511 511  ====== __Enable Motion Profile (**EM**)__ ======
512 512  
513 513  {{html wiki="true" clean="false"}}
... ... @@ -534,6 +534,8 @@
534 534  <div class="wikimodel-emptyline"></div></div></div>
535 535  {{/html}}
536 536  
579 +{{id name="FILTER_POSITION_COUNT"/}}
580 +
537 537  ====== __Filter Position Count (**FPC**)__ ======
538 538  
539 539  {{html wiki="true" clean="false"}}
... ... @@ -555,6 +555,8 @@
555 555  <div class="wikimodel-emptyline"></div></div></div>
556 556  {{/html}}
557 557  
602 +{{id name="ORIGIN_OFFSET"/}}
603 +
558 558  ====== __Origin Offset (**O**)__ ======
559 559  
560 560  {{html wiki="true" clean="false"}}
... ... @@ -583,6 +583,8 @@
583 583  <div class="wikimodel-emptyline"></div></div></div>
584 584  {{/html}}
585 585  
632 +{{id name="ANGULAR_RANGE"/}}
633 +
586 586  ====== __Angular Range (**AR**)__ ======
587 587  
588 588  {{html wiki="true" clean="false"}}
... ... @@ -611,6 +611,8 @@
611 611  <div class="wikimodel-emptyline"></div></div></div>
612 612  {{/html}}
613 613  
662 +{{id name="ANGULAR_STIFFNESS"/}}
663 +
614 614  ====== __Angular Stiffness (**AS**)__ ======
615 615  
616 616  {{html wiki="true" clean="false"}}
... ... @@ -643,6 +643,8 @@
643 643  <div class="wikimodel-emptyline"></div></div></div>
644 644  {{/html}}
645 645  
696 +{{id name="ANGULAR_HOLDING_STIFFNESS"/}}
697 +
646 646  ====== __Angular Holding Stiffness (**AH**)__ ======
647 647  
648 648  {{html wiki="true" clean="false"}}
... ... @@ -667,6 +667,8 @@
667 667  <div class="wikimodel-emptyline"></div></div></div>
668 668  {{/html}}
669 669  
722 +{{id name="ANGULAR_ACCELERATION"/}}
723 +
670 670  ====== __Angular Acceleration (**AA**)__ ======
671 671  
672 672  {{html wiki="true" clean="false"}}
... ... @@ -691,6 +691,8 @@
691 691  <div class="wikimodel-emptyline"></div></div></div>
692 692  {{/html}}
693 693  
748 +{{id name="ANGULAR_DECELERATION"/}}
749 +
694 694  ====== __Angular Deceleration (**AD**)__ ======
695 695  
696 696  {{html wiki="true" clean="false"}}
... ... @@ -715,6 +715,8 @@
715 715  <div class="wikimodel-emptyline"></div></div></div>
716 716  {{/html}}
717 717  
774 +{{id name="GYRE_DIRECTION"/}}
775 +
718 718  ====== __Gyre Direction (**G**)__ ======
719 719  
720 720  {{html wiki="true" clean="false"}}
... ... @@ -739,6 +739,8 @@
739 739  <div class="wikimodel-emptyline"></div></div></div>
740 740  {{/html}}
741 741  
800 +{{id name="FIRST_POSITION"/}}
801 +
742 742  ====== __First Position__ ======
743 743  
744 744  {{html wiki="true" clean="false"}}
... ... @@ -759,6 +759,8 @@
759 759  <div class="wikimodel-emptyline"></div></div></div>
760 760  {{/html}}
761 761  
822 +{{id name="MAXIMUM_RAW"/}}
823 +
762 762  ====== __Maximum Motor Duty (**MMD**)__ ======
763 763  
764 764  {{html wiki="true" clean="false"}}
... ... @@ -777,6 +777,8 @@
777 777  <div class="wikimodel-emptyline"></div></div></div>
778 778  {{/html}}
779 779  
842 +{{id name="MAXIMUM_SPEED_D"/}}
843 +
780 780  ====== __Maximum Speed in Degrees (**SD**)__ ======
781 781  
782 782  {{html wiki="true" clean="false"}}
... ... @@ -803,6 +803,8 @@
803 803  </div></div>
804 804  {{/html}}
805 805  
870 +{{id name="MAXIMUM_SPEED_RPM"/}}
871 +
806 806  ====== __Maximum Speed in RPM (**SR**)__ ======
807 807  
808 808  {{html wiki="true" clean="false"}}
... ... @@ -829,8 +829,12 @@
829 829  </div></div>
830 830  {{/html}}
831 831  
898 +{{id name="MODIFIERS"/}}
899 +
832 832  == Modifiers ==
833 833  
902 +{{id name="SPEEDS"/}}
903 +
834 834  ====== __Speed (**S**, **SD**) modifier__ ======
835 835  
836 836  {{html wiki="true" clean="false"}}
... ... @@ -845,6 +845,8 @@
845 845  </div></div>
846 846  {{/html}}
847 847  
918 +{{id name="TIMED_MOVE"/}}
919 +
848 848  ====== __Timed move (**T**) modifier__ ======
849 849  
850 850  {{html wiki="true" clean="false"}}
... ... @@ -856,6 +856,8 @@
856 856  </div></div>
857 857  {{/html}}
858 858  
931 +{{id name="CURRENT_HOLD"/}}
932 +
859 859  ====== __Current Halt & Hold (**CH**) modifier__ ======
860 860  
861 861  {{html wiki="true" clean="false"}}
... ... @@ -867,6 +867,8 @@
867 867  </div></div>
868 868  {{/html}}
869 869  
944 +{{id name="CURRENT_LIMP"/}}
945 +
870 870  ====== __Current Limp (**CL**) modifier__ ======
871 871  
872 872  {{html wiki="true" clean="false"}}
... ... @@ -878,8 +878,12 @@
878 878  </div></div>
879 879  {{/html}}
880 880  
957 +{{id name="TELEMETRY"/}}
958 +
881 881  == Telemetry ==
882 882  
961 +{{id name="QUERY_VOLTAGE"/}}
962 +
883 883  ====== __Query Voltage (**QV**)__ ======
884 884  
885 885  {{html wiki="true" clean="false"}}
... ... @@ -889,6 +889,8 @@
889 889  </div></div>
890 890  {{/html}}
891 891  
972 +{{id name="QUERY_TEMP"/}}
973 +
892 892  ====== __Query Temperature (**QT**)__ ======
893 893  
894 894  {{html wiki="true" clean="false"}}
... ... @@ -898,6 +898,8 @@
898 898  </div></div>
899 899  {{/html}}
900 900  
983 +{{id name="QUERY_CURRENT"/}}
984 +
901 901  ====== __Query Current (**QC**)__ ======
902 902  
903 903  {{html wiki="true" clean="false"}}
... ... @@ -907,6 +907,8 @@
907 907  </div></div>
908 908  {{/html}}
909 909  
994 +{{id name="QUERY_MODEL"/}}
995 +
910 910  ====== __Query Model String (**QMS**)__ ======
911 911  
912 912  {{html wiki="true" clean="false"}}
... ... @@ -916,6 +916,8 @@
916 916  </div></div>
917 917  {{/html}}
918 918  
1005 +{{id name="QUERY_FIRMWARE"/}}
1006 +
919 919  ====== __Query Firmware (**QF**)__ ======
920 920  
921 921  {{html wiki="true" clean="false"}}
... ... @@ -926,6 +926,8 @@
926 926  </div></div>
927 927  {{/html}}
928 928  
1017 +{{id name="QUERY_SERIAL"/}}
1018 +
929 929  ====== __Query Serial Number (**QN**)__ ======
930 930  
931 931  {{html wiki="true" clean="false"}}
... ... @@ -935,8 +935,12 @@
935 935  </div></div>
936 936  {{/html}}
937 937  
1028 +{{id name="RGB_LED"/}}
1029 +
938 938  == RGB LED ==
939 939  
1032 +{{id name="LED_COLOR"/}}
1033 +
940 940  ====== __LED Color (**LED**)__ ======
941 941  
942 942  {{html wiki="true" clean="false"}}
... ... @@ -953,6 +953,8 @@
953 953  </div></div>
954 954  {{/html}}
955 955  
1050 +{{id name="LED_BLINK"/}}
1051 +
956 956  ====== __Configure LED Blinking (**CLB**)__ ======
957 957  
958 958  {{html wiki="true" clean="false"}}

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