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189	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	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	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|0.1°/s|SD overwrites SR / CSD overwrites CSR and vice-versa
	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|1/10°/s|SD overwrites SR / CSD overwrites CSR and vice-versa
193	193	| |[[Maximum **S**peed in **R**PM>>||anchor="HMaximumSpeedinRPM28SR29"]]|(% style="text-align:center" %)SR|(% style="text-align:center" %)QSR|(% style="text-align:center" %)CSR|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|Max|RPM|SD overwrites SR / CSD overwrites CSR and vice-versa
194	194
195	195	|(% colspan="10" style="color:orange; font-size:18px" %)[[**Modifiers**>>||anchor="HModifiers"]]
196	196	|(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Modifier**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="text-align:center; width:75px" %)**RC**|(% style="text-align:center; width:75px" %)**Serial**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
197	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" %)✓| |0.1°/s|For D and MD action commands
	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" %)✓| |1/10°/s|For D and MD action commands
199	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	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	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
...	...	@@ -313,9 +313,9 @@
313	313
314	314	====== __Baud Rate__ ======
315	315
316		-{{html clean="false" wiki="true"}}
	316	+{{html wiki="true" clean="false"}}
317	317	<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
318		-A servo's baud rate cannot be set "on the fly" and must be configured via the CB command described below. The factory default baud rate for all servos is 115200. Since smart servos are intended to be daisy chained, in order to respond to the same serial command, all servos in a project should be set to the same baud rate. Setting different baud rates will have the servos respond differently and may create issues. Available baud rates are: 9600 bps, 19200 bps, 38400 bps, 57600 bps, 115.2 kbps, 230.4 kbps, 250.0 kbps, 460.8 kbps, 500.0 kbps, 750.0 kbps, 921.6 kbps. Servos are shipped with a baud rate set to 115200.<div class="wikimodel-emptyline"></div>
	318	+A servo's baud rate cannot be set "on the fly" and must be configured via the CB command described below. The factory default baud rate for all servos is 115200. Since smart servos are intended to be daisy chained, in order to respond to the same serial command, all servos in a project should be set to the same baud rate. Setting different baud rates will have the servos respond differently and may create issues. Available baud rates are: 9600 bps, 19200 bps, 38400 bps, 57600 bps, 115.2 kbps, 230.4 kbps, 250.0 kbps, 460.8 kbps, 500.0 kbps. Servos are shipped with a baud rate set to 115200.<div class="wikimodel-emptyline"></div>
319	319
320	320	Query Baud Rate (**QB**)<div class="wikimodel-emptyline"></div>
321	321
...	...	@@ -333,28 +333,6 @@
333	333	</div></div>
334	334	{{/html}}
335	335
336		-====== __Automatic Baud Rate__ ======
337		-
338		-{{html clean="false" wiki="true"}}
339		-<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
340		-This option allows the LSS to listen to it's serial input and select the right baudrate automatically.<div class="wikimodel-emptyline"></div>
341		-
342		-Query Automatic Baud Rate (**QABR**)<div class="wikimodel-emptyline"></div>
343		-
344		-Ex: #5QABR&lt;cr&gt; might return *5ABR0&lt;cr&gt;<div class="wikimodel-emptyline"></div>
345		-
346		-Enable Baud Rate (**ABR**)<div class="wikimodel-emptyline"></div>
347		-
348		-Ex: #5QABR1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
349		-Enable baudrate detection on first byte received after power-up.<div class="wikimodel-emptyline"></div>
350		-
351		-Ex: #5QABR2,30&lt;cr&gt;<div class="wikimodel-emptyline"></div>
352		-Enable baudrate detection on first byte received after power-up. If no data for 30 seconds enable detection again on next byte.<div class="wikimodel-emptyline"></div>
353		-
354		-Warning: ABR doesnt work well with LSS Config at the moment.<div class="wikimodel-emptyline"></div>
355		-</div></div>
356		-{{/html}}
357		-
358	358	== Motion ==
359	359
360	360	====== __Position in Degrees (**D**)__ ======
...	...	@@ -486,7 +486,7 @@
486	486	| |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
487	487	| |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
488	488	| |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
489		-| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will nornally be holding)
	467	+| |ex: *5Q6<cr>|6: Holding|Keeping current position
490	490	| |ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
491	491	| |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
492	492	| |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
...	...	@@ -542,7 +542,7 @@
542	542
543	543	Ex: #5EM0&lt;cr&gt;<div class="wikimodel-emptyline"></div>
544	544
545		-This command will disable the built-in trapezoidal motion profile. As such, the servo will move at full speed to the target position using the D/MD action commands. Modifiers like SD/S or T cannot be used in EM0 mode. By default the Filter Position Counter, or "FPC" is active in EM0 mode to smooth out its operation. EM0 is suggested for applications where an external controller will be determining all incremental intermediate positions of the servo's motion, effectively replacing a trajectory manager. To prevent having to send position commands continuously to reach the desired position in EM0/FPC active (FPC >= 2), an internal position engine (IPE) repeats the last position command. Note that in EM0 mode, the servo will effectively always be in status: Holding (if using the query status command).
	523	+This command will disable the built-in trapezoidal motion profile. As such, the servo will move at full speed to the target position using the D/MD action commands. Modifiers like SD/S or T cannot be used in EM0 mode. By default the Filter Position Counter, or "FPC" is active in EM0 mode to smooth out its operation. EM0 is suggested for applications where an external controller will be determining all incremental intermediate positions of the servo's motion, effectively replacing a trajectory manager. To prevent having to send position commands continuously to reach the desired position in EM0/FPC active (FPC >= 2), an internal position engine (IPE) repeats the last position command.
546	546
547	547	<div class="wikimodel-emptyline"></div>
548	548
...	...	@@ -866,7 +866,7 @@
866	866	Example: #5P1500S750&lt;cr&gt;<div class="wikimodel-emptyline"></div>
867	867	Modifier (S) is only for a position (P) action and determines the speed of the move in microseconds per second. A speed of 750 microseconds would cause the servo to rotate from its current position to the desired position at a speed of 750 microseconds per second. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.<div class="wikimodel-emptyline"></div>
868	868	Example: #5D0SD180&lt;cr&gt;<div class="wikimodel-emptyline"></div>
869		-Modifier (SD) is only for a position (D) or relative position (MD) action and determines the speed of the move in tenths of degrees per second. A speed modifier (SD) of 180 would cause the servo to rotate from its current position to the desired absolute or relative position at a speed of 18 degrees per second.<div class="wikimodel-emptyline"></div>
	847	+Modifier (SD) is only for a position (D) or relative position (MD) action and determines the speed of the move in tenth of degrees per second. A speed modifier (SD) of 180 would cause the servo to rotate from its current position to the desired absolute or relative position at a speed of 18 degrees per second.<div class="wikimodel-emptyline"></div>
870	870	Query Speed (**QS**)<div class="wikimodel-emptyline"></div>
871	871	Example: #5QS&lt;cr&gt; might return *5QS300&lt;cr&gt;<div class="wikimodel-emptyline"></div>
872	872	This command queries the current speed in microseconds per second.<div class="wikimodel-emptyline"></div>