Last modified by Eric Nantel on 2025/06/06 07:47
From version < 213.1 >
edited by Eric Nantel
on 2024/11/21 09:18
To version < 219.1
edited by Eric Nantel
on 2025/06/06 07:47
<
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1 -(% class="wikigeneratedid" id="HTableofContents" %)
2 -**Page Contents**
3 -
4 4  {{toc depth="3"/}}
5 5  
6 6  = Serial Protocol =
... ... @@ -148,65 +148,65 @@
148 148  
149 149  **Latest firmware version currently : 370**
150 150  
151 -|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Communication Setup**>>path:#HCommunicationSetup]]
148 +|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Communication Setup**>>path:#HCommunicationSetup]]
152 152  | |**Description**|**Action**|**Query**|**Config**|**RC**|**Serial**|**Default**|**Unit**|**Notes**
153 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Reset**>>path:#HReset]]|RESET| | | |✓| | |Soft reset. See command for details.
154 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Default** Configuration>>path:#HDefault26confirm]]|DEFAULT| | | |✓| | |Revert to firmware default values. See command for details
155 -| |[[Firmware (% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Update** Mode>>path:#HUpdate26confirm]]|UPDATE| | | |✓| | |Update firmware. See command for details.
156 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Confirm** Changes>>path:#HConfirm]]|CONFIRM| | | |✓| | |
157 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**C**hange to **RC**>>path:#HConfigureRCMode28CRC29]]| | |CRC| |✓| | |Change to RC mode 1 (position) or 2 (wheel).
158 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**ID** #>>path:#HIdentificationNumber28ID29]]| |QID|CID| |✓|0| |Reset required after change. ID 254 is a "broadcast" which all servos respond to.
159 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**B**audrate>>path:#HBaudRate]]| |QB|CB| |✓|115200| |Reset required after change.
150 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Reset**>>path:#HReset]]|RESET| | | |✓| | |Soft reset. See command for details.
151 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Default** Configuration>>path:#HDefault26confirm]]|DEFAULT| | | |✓| | |Revert to firmware default values. See command for details
152 +| |[[Firmware (% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Update** Mode>>path:#HUpdate26confirm]]|UPDATE| | | |✓| | |Update firmware. See command for details.
153 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Confirm** Changes>>path:#HConfirm]]|CONFIRM| | | |✓| | |
154 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**C**hange to **RC**>>path:#HConfigureRCMode28CRC29]]| | |CRC| |✓| | |Change to RC mode 1 (position) or 2 (wheel).
155 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**ID** #>>path:#HIdentificationNumber28ID29]]| |QID|CID| |✓|0| |Reset required after change. ID 254 is a "broadcast" which all servos respond to.
156 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**B**audrate>>path:#HBaudRate]]| |QB|CB| |✓|115200| |Reset required after change.
160 160  
161 -|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Motion**>>path:#HMotion]]
158 +|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Motion**>>path:#HMotion]]
162 162  | |**Description**|**Action**|**Query**|**Config**|**RC**|**Serial**|**Default**|**Unit**|**Notes**
163 -| |[[Position in (% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**D**egrees>>path:#HPositioninDegrees28D29]]|D|QD/QDT| | |✓| |1/10°|
164 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**M**ove in **D**egrees (relative)>>path:#H28Relative29MoveinDegrees28MD29]]|MD| | | |✓| |1/10°|
165 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**W**heel mode in **D**egrees>>path:#HWheelModeinDegrees28WD29]]|WD|QWD/QVT| | |✓| |°/s|A.K.A. "Speed mode" or "Continuous rotation"
166 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**W**heel mode in **R**PM>>path:#HWheelModeinRPM28WR29]]|WR|QWR| | |✓| |RPM|A.K.A. "Speed mode" or "Continuous rotation"
167 -| |[[Position in (% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**P**WM>>path:#HPositioninPWM28P29]]|P|QP| | |✓| |us|Inherited from SSC-32 serial protocol
168 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**M**ove in PWM (relative)>>path:#H28Relative29MoveinPWM28M29]]|M| | | |✓| |us|
169 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**R**aw **D**uty-cycle **M**ove>>path:#HRawDuty-cycleMove28RDM29]]|RDM|QMD| | |✓| |-1023 to 1023 integer|Positive values : CW / Negative values : CCW
170 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Q**uery Status>>path:#HQueryStatus28Q29]]| |Q| | |✓| |1 to 8 integer|See command description for details
171 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**L**imp>>path:#HLimp28L29]]|L| | | |✓| | |
172 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**H**alt & Hold>>path:#HHalt26Hold28H29]]|H| | | |✓| | |
160 +| |[[Position in (% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**D**egrees>>path:#HPositioninDegrees28D29]]|D|QD/QDT| | |✓| |1/10°|
161 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**M**ove in **D**egrees (relative)>>path:#H28Relative29MoveinDegrees28MD29]]|MD| | | |✓| |1/10°|
162 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**W**heel mode in **D**egrees>>path:#HWheelModeinDegrees28WD29]]|WD|QWD/QVT| | |✓| |°/s|A.K.A. "Speed mode" or "Continuous rotation"
163 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**W**heel mode in **R**PM>>path:#HWheelModeinRPM28WR29]]|WR|QWR| | |✓| |RPM|A.K.A. "Speed mode" or "Continuous rotation"
164 +| |[[Position in (% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**P**WM>>path:#HPositioninPWM28P29]]|P|QP| | |✓| |us|Inherited from SSC-32 serial protocol
165 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**M**ove in PWM (relative)>>path:#H28Relative29MoveinPWM28M29]]|M| | | |✓| |us|
166 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**R**aw **D**uty-cycle **M**ove>>path:#HRawDuty-cycleMove28RDM29]]|RDM|QMD| | |✓| |-1023 to 1023 integer|Positive values : CW / Negative values : CCW
167 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Q**uery Status>>path:#HQueryStatus28Q29]]| |Q| | |✓| |1 to 8 integer|See command description for details
168 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**L**imp>>path:#HLimp28L29]]|L| | | |✓| | |
169 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**H**alt & Hold>>path:#HHalt26Hold28H29]]|H| | | |✓| | |
173 173  
174 -|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Motion Setup**>>path:#HMotionSetup]]
171 +|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Motion Setup**>>path:#HMotionSetup]]
175 175  | |**Description**|**Action**|**Query**|**Config**|**RC**|**Serial**|**Default**|**Unit**|**Notes**
176 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**E**nable **M**otion Profile>>path:#HEnableMotionProfile28EM29]]|EM|QEM|CEM| |✓|1| |EM1: trapezoidal motion profile / EM0: no motion profile
177 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**F**ilter **P**osition **C**ount>>path:#HFilterPositionCount28FPC29]]|FPC|QFPC|CFPC|✓|✓|5| |Affects motion only when motion profile is disabled (EM0)
178 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**O**rigin Offset>>path:#HOriginOffset28O29]]|O|QO|CO|✓|✓|0|1/10°|
179 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**A**ngular **R**ange>>path:#HAngularRange28AR29]]|AR|QAR|CAR|✓|✓|1800|1/10°|
180 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**A**ngular **S**tiffness>>path:#HAngularStiffness28AS29]]|AS|QAS|CAS|✓|✓|0|-4 to +4 integer|Suggested values are between 0 to +4
181 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**A**ngular **H**olding Stiffness>>path:#HAngularHoldingStiffness28AH29]]|AH|QAH|CAH|✓|✓|4|-10 to +10 integer|
182 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**A**ngular **A**cceleration>>path:#HAngularAcceleration28AA29]]|AA|QAA|CAA| |✓|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
183 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**A**ngular **D**eceleration>>path:#HAngularDeceleration28AD29]]|AD|QAD|CAD| |✓|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
184 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**G**yre Direction>>path:#HGyreDirection28G29]]|G|QG|CG|✓|✓|1| |Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)
185 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**F**irst Position (**D**eg)>>path:#HFirstPosition]]| |QFD|CFD|✓|✓|No value|1/10°|Reset required after change.
186 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**M**aximum **M**otor **D**uty>>path:#HMaximumMotorDuty28MMD29]]|MMD|QMMD| | |✓|1023|255 to 1023 integer|
187 -| |[[Maximum (% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**S**peed in **D**egrees>>path:#HMaximumSpeedinDegrees28SD29]]|SD|QSD|CSD|✓|✓|Max|0.1°/s|SD overwrites SR / CSD overwrites CSR and vice-versa
188 -| |[[Maximum (% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**S**peed in **R**PM>>path:#HMaximumSpeedinRPM28SR29]]|SR|QSR|CSR|✓|✓|Max|RPM|SD overwrites SR / CSD overwrites CSR and vice-versa
173 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**E**nable **M**otion Profile>>path:#HEnableMotionProfile28EM29]]|EM|QEM|CEM| |✓|1| |EM1: trapezoidal motion profile / EM0: no motion profile
174 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**F**ilter **P**osition **C**ount>>path:#HFilterPositionCount28FPC29]]|FPC|QFPC|CFPC|✓|✓|5| |Affects motion only when motion profile is disabled (EM0)
175 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**O**rigin Offset>>path:#HOriginOffset28O29]]|O|QO|CO|✓|✓|0|1/10°|
176 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**A**ngular **R**ange>>path:#HAngularRange28AR29]]|AR|QAR|CAR|✓|✓|1800|1/10°|
177 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**A**ngular **S**tiffness>>path:#HAngularStiffness28AS29]]|AS|QAS|CAS|✓|✓|0|-4 to +4 integer|Suggested values are between 0 to +4
178 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**A**ngular **H**olding Stiffness>>path:#HAngularHoldingStiffness28AH29]]|AH|QAH|CAH|✓|✓|4|-10 to +10 integer|
179 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**A**ngular **A**cceleration>>path:#HAngularAcceleration28AA29]]|AA|QAA|CAA| |✓|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
180 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**A**ngular **D**eceleration>>path:#HAngularDeceleration28AD29]]|AD|QAD|CAD| |✓|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
181 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**G**yre Direction>>path:#HGyreDirection28G29]]|G|QG|CG|✓|✓|1| |Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)
182 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**F**irst Position (**D**eg)>>path:#HFirstPosition]]| |QFD|CFD|✓|✓|No value|1/10°|Reset required after change.
183 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**M**aximum **M**otor **D**uty>>path:#HMaximumMotorDuty28MMD29]]|MMD|QMMD| | |✓|1023|255 to 1023 integer|
184 +| |[[Maximum (% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**S**peed in **D**egrees>>path:#HMaximumSpeedinDegrees28SD29]]|SD|QSD|CSD|✓|✓|Max|0.1°/s|SD overwrites SR / CSD overwrites CSR and vice-versa
185 +| |[[Maximum (% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**S**peed in **R**PM>>path:#HMaximumSpeedinRPM28SR29]]|SR|QSR|CSR|✓|✓|Max|RPM|SD overwrites SR / CSD overwrites CSR and vice-versa
189 189  
190 -|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Modifiers**>>path:#HModifiers]]
187 +|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Modifiers**>>path:#HModifiers]]
191 191  | |**Description**|**Modifier**|**Query**|**Config**|**RC**|**Serial**|**Default**|**Unit**|**Notes**
192 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**S**peed>>path:#HSpeed28S2CSD29modifier]]|S|QS| | |✓| |uS/s |For P action command
193 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**S**peed in **D**egrees>>path:#HSpeed28S2CSD29modifier]]|SD| | | |✓| |0.1°/s|For D and MD action commands
194 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**T**imed move>>path:#HTimedmove28T29modifier]]|T| | | |✓| |ms|Modifier only for P, D and MD. Time can change based on load
195 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**C**urrent **H**old>>path:#HCurrentHalt26Hold28CH29modifier]]|CH| | | |✓| |mA|Modifier for D, MD, WD and WR
196 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**C**urrent **L**imp>>path:#HCurrentLimp28CL29modifier]]|CL| | | |✓| |mA|Modifier for D, MD, WD and WR
189 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**S**peed>>path:#HSpeed]]|S|QS| | |✓| |uS/s |For P action command
190 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**S**peed in **D**egrees>>path:#HSpeed]]|SD| | | |✓| |0.1°/s|For D and MD action commands
191 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**T**imed move>>path:#HTimedmove28T29modifier]]|T| | | |✓| |ms|Modifier only for P, D --and MD--. Time can change based on load
192 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**C**urrent **H**old>>path:#HCurrentHalt26Hold28CH29modifier]]|CH| | | |✓| |mA|Modifier for D, MD, WD and WR
193 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**C**urrent **L**imp>>path:#HCurrentLimp28CL29modifier]]|CL| | | |✓| |mA|Modifier for D, MD, WD and WR
197 197  
198 -|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Telemetry**>>path:#HTelemetry]]
195 +|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Telemetry**>>path:#HTelemetry]]
199 199  | |**Description**|**Action**|**Query**|**Config**|**RC**|**Serial**|**Default**|**Unit**|**Notes**
200 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Q**uery **V**oltage>>path:#HQueryVoltage28QV29]]| |QV| | |✓| |mV|
201 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Q**uery **T**emperature>>path:#HQueryTemperature28QT29]]| |QT| | |✓| |1/10°C|
202 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Q**uery **C**urrent>>path:#HQueryCurrent28QC29]]| |QC| | |✓| |mA|
203 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Q**uery **M**odel **S**tring>>path:#HQueryModelString28QMS29]]| |QMS| | |✓| | |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)
204 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Q**uery **F**irmware Version>>path:#HQueryFirmware28QF29]]| |QF| | |✓| | |
197 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Q**uery **V**oltage>>path:#HQueryVoltage28QV29]]| |QV| | |✓| |mV|
198 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Q**uery **T**emperature>>path:#HQueryTemperature28QT29]]| |QT| | |✓| |1/10°C|
199 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Q**uery **C**urrent>>path:#HQueryCurrent28QC29]]| |QC| | |✓| |mA|
200 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Q**uery **M**odel **S**tring>>path:#HQueryModelString28QMS29]]| |QMS| | |✓| | |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)
201 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Q**uery **F**irmware Version>>path:#HQueryFirmware28QF29]]| |QF| | |✓| | |
205 205  
206 -|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**RGB LED**>>path:#HRGBLED]]
203 +|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**RGB LED**>>path:#HRGBLED]]
207 207  | |**Description**|**Action**|**Query**|**Config**|**RC**|**Serial**|**Default**|**Unit**|**Notes**
208 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**LED** Color>>path:#HLEDColor28LED29]]|LED|QLED|CLED|✓|✓| |0 to 7 integer|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White
209 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**C**onfigure **L**ED **B**linking>>path:#HConfigureLEDBlinking28CLB29]]| | |CLB|✓|✓| |0 to 63 integer|Reset required after change. See command for details.
205 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**LED** Color>>path:#HLEDColor28LED29]]|LED|QLED|CLED|✓|✓| |0 to 7 integer|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White
206 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**C**onfigure **L**ED **B**linking>>path:#HConfigureLEDBlinking28CLB29]]| | |CLB|✓|✓| |0 to 63 integer|Reset required after change. See command for details.
210 210  
211 211  = Details =
212 212  
... ... @@ -213,7 +213,7 @@
213 213  == Communication Setup ==
214 214  
215 215  |(% colspan="2" %)(((
216 -====== Reset ======
213 +====== __Reset__ ======
217 217  )))
218 218  |(% style="width:30px" %) |(((
219 219  Ex: #5RESET<cr>
... ... @@ -222,7 +222,7 @@
222 222  )))
223 223  
224 224  |(% colspan="2" %)(((
225 -====== Default & confirm ======
222 +====== __Default & confirm__ ======
226 226  )))
227 227  |(% style="width:30px" %) |(((
228 228  Ex: #5DEFAULT<cr>
... ... @@ -237,7 +237,7 @@
237 237  )))
238 238  
239 239  |(% colspan="2" %)(((
240 -====== Update & confirm ======
237 +====== __Update & confirm__ ======
241 241  )))
242 242  |(% style="width:30px" %) |(((
243 243  Ex: #5UPDATE<cr>
... ... @@ -252,7 +252,7 @@
252 252  )))
253 253  
254 254  |(% colspan="2" %)(((
255 -====== Confirm ======
252 +====== __Confirm__ ======
256 256  )))
257 257  |(% style="width:30px" %) |(((
258 258  Ex: #5CONFIRM<cr>
... ... @@ -263,7 +263,7 @@
263 263  )))
264 264  
265 265  |(% colspan="2" %)(((
266 -====== Configure RC Mode (**CRC**) ======
263 +====== __Configure RC Mode (**CRC**)__ ======
267 267  )))
268 268  |(% style="width:30px" %) |(((
269 269  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.
... ... @@ -288,7 +288,7 @@
288 288  )))
289 289  
290 290  |(% colspan="2" %)(((
291 -====== Identification Number (**ID**) ======
288 +====== __Identification Number (**ID**)__ ======
292 292  )))
293 293  |(% style="width:30px" %) |(((
294 294  A servo's identification number cannot be set "on the fly" and must be configured via the CID command described below. The factory default ID number for all servos is 0. Since smart servos are intended to be daisy chained, in order to respond differently from one another, the user must set different identification numbers. Servos with the same ID and baud rate will all receive and react to the same commands.
... ... @@ -307,7 +307,7 @@
307 307  )))
308 308  
309 309  |(% colspan="2" %)(((
310 -====== Baud Rate ======
307 +====== __Baud Rate__ ======
311 311  )))
312 312  |(% style="width:30px" %) |(((
313 313  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.
... ... @@ -372,7 +372,7 @@
372 372  )))
373 373  
374 374  |(% colspan="2" %)(((
375 -====== (Relative) Move in Degrees (**MD**) ======
372 +====== __(Relative) Move in Degrees (**MD**)__ ======
376 376  )))
377 377  |(% style="width:30px" %) |(((
378 378  Ex: #5MD123<cr>
... ... @@ -381,7 +381,7 @@
381 381  )))
382 382  
383 383  |(% colspan="2" %)(((
384 -====== Wheel Mode in Degrees (**WD**) ======
381 +====== __Wheel Mode in Degrees (**WD**)__ ======
385 385  )))
386 386  |(% style="width:30px" %) |(((
387 387  Ex: #5WD90<cr>
... ... @@ -396,7 +396,7 @@
396 396  )))
397 397  
398 398  |(% colspan="2" %)(((
399 -====== Wheel Mode in RPM (**WR**) ======
396 +====== __Wheel Mode in RPM (**WR**)__ ======
400 400  )))
401 401  |(% style="width:30px" %) |(((
402 402  Ex: #5WR40<cr>
... ... @@ -411,7 +411,7 @@
411 411  )))
412 412  
413 413  |(% colspan="2" %)(((
414 -====== Position in PWM (**P**) ======
411 +====== __Position in PWM (**P**)__ ======
415 415  )))
416 416  |(% style="width:30px" %) |(((
417 417  Ex: #5P2334<cr>
... ... @@ -435,7 +435,7 @@
435 435  )))
436 436  
437 437  |(% colspan="2" %)(((
438 -====== Raw Duty-cycle Move (**RDM**) ======
435 +====== __Raw Duty-cycle Move (**RDM**)__ ======
439 439  )))
440 440  |(% style="width:30px" %) |(((
441 441  Ex: #5RDM512<cr>
... ... @@ -452,7 +452,7 @@
452 452  )))
453 453  
454 454  |(% colspan="2" %)(((
455 -====== Query Status (**Q**) ======
452 +====== __Query Status (**Q**)__ ======
456 456  )))
457 457  |(% style="width:30px" %) |(((
458 458  The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
... ... @@ -463,7 +463,7 @@
463 463  )))
464 464  
465 465  |(% style="width:30px" %) |***Value returned (Q)**|**Status**|**Detailed description**
466 -| |ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
463 +| |ex: *5Q0<cr>|0: Unknown|Unknown state / No active control mode or not yet initialized
467 467  | |ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely
468 468  | |ex: *5Q2<cr>|2: Free moving|Servo is rotating in duty motion / free move using the RDM command
469 469  | |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
... ... @@ -470,7 +470,7 @@
470 470  | |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
471 471  | |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
472 472  | |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will nornally be holding)
473 -| |ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
470 +| |ex: *5Q7<cr>|7: Outside limits|Servo’s current position is outside the allowed range based on its configured AngularRange and Origin
474 474  | |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
475 475  | |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
476 476  | |ex: *5Q10<cr>|10: Safe Mode|(((
... ... @@ -487,7 +487,7 @@
487 487  | |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
488 488  
489 489  |(% colspan="2" %)(((
490 -====== Limp (**L**) ======
487 +====== __Limp (**L**)__ ======
491 491  )))
492 492  |(% style="width:30px" %) |(((
493 493  Ex: #5L<cr>
... ... @@ -496,7 +496,7 @@
496 496  )))
497 497  
498 498  |(% colspan="2" %)(((
499 -====== Halt & Hold (**H**) ======
496 +====== __Halt & Hold (**H**)__ ======
500 500  )))
501 501  |(% style="width:30px" %) |(((
502 502  Example: #5H<cr>
... ... @@ -507,7 +507,7 @@
507 507  == Motion Setup ==
508 508  
509 509  |(% colspan="2" %)(((
510 -====== Enable Motion Profile (**EM**) ======
507 +====== __Enable Motion Profile (**EM**)__ ======
511 511  )))
512 512  |(% style="width:30px" %) |(((
513 513  EM1 (Enable Motion Profile #1) is the default mode of the LSS and is an easy way to control the servo's position with a single (serial) position command. This mode uses a trapezoidal motion profile which takes care of acceleration, constant speed travel and deceleration. Once the actual position is within a certain value of the target, it switches to a holding algorithm. The LSS commands for Angular Acceleration and Deceleration (AA/CAA/AD/CAD) Angular Stiffness (AS/CAS) and Angular holding stiffness (AH/CAH) affect this motion profile. Modifiers like SD/S and T can be used in EM1.
... ... @@ -534,7 +534,7 @@
534 534  )))
535 535  
536 536  |(% colspan="2" %)(((
537 -====== Filter Position Count (**FPC**) ======
534 +====== __Filter Position Count (**FPC**)__ ======
538 538  )))
539 539  |(% style="width:30px" %) |(((
540 540  The FPC value relates to the depth of a first order filter (exponential weighted average) over the position change. This has the effect of slowing down both acceleration and deceleration while still allowing the LSS to try to reach the desired position at maximum power at all times. A smaller FPC value will reduce the smoothing effect and a larger value will increase it. To prevent having to send position commands continuously to reach the desired position in EM0/FPC active (FPC >= 2), an internal position engine (IPE) has been put in place, which is also active by default.
... ... @@ -557,7 +557,7 @@
557 557  )))
558 558  
559 559  |(% colspan="2" %)(((
560 -====== Origin Offset (**O**) ======
557 +====== __Origin Offset (**O**)__ ======
561 561  )))
562 562  |(% style="width:30px" %) |(((
563 563  Ex: #5O2400<cr>
... ... @@ -583,8 +583,8 @@
583 583  This command allows you to change the origin of the servo in relation to the factory zero position in EEPROM. The setting will be saved upon servo reset / power cycle. Origin offset configuration commands are not cumulative and always relate to factory zero. The new origin is also used in RC mode. In the example, the new origin will be at -2.4 degrees from the factory zero.
584 584  )))
585 585  
586 -|(% colspan="2" %)Angular Range (**AR**)(((
587 -====== ======
583 +|(% colspan="2" %)(((
584 +====== __Angular Range (**AR**)__ ======
588 588  )))
589 589  |(% style="width:30px" %) |(((
590 590  Ex: #5AR1800<cr>
... ... @@ -611,7 +611,7 @@
611 611  )))
612 612  
613 613  |(% colspan="2" %)(((
614 -====== Angular Stiffness (**AS**) ======
611 +====== __Angular Stiffness (**AS**)__ ======
615 615  )))
616 616  |(% style="width:30px" %) |(((
617 617  The servo's rigidity / angular stiffness can be thought of as (though not identical to) a damped spring in which the value affects the stiffness and embodies how much, and how quickly the servo tried keep the requested position against changes. There are no units.
... ... @@ -640,7 +640,7 @@
640 640  )))
641 641  
642 642  |(% colspan="2" %)(((
643 -====== Angular Holding Stiffness (**AH**) ======
640 +====== __Angular Holding Stiffness (**AH**)__ ======
644 644  )))
645 645  |(% style="width:30px" %) |(((
646 646  The angular holding stiffness determines the servo's ability to hold a desired position under load. The default value for stiffness depending on the firmware may be 0 or 1. Greater values produce increasingly erratic behavior and the effect becomes extreme below -4 and above +4. Maximum values are -10 to +10.
... ... @@ -663,7 +663,7 @@
663 663  )))
664 664  
665 665  |(% colspan="2" %)(((
666 -====== Angular Acceleration (**AA**) ======
663 +====== __Angular Acceleration (**AA**)__ ======
667 667  )))
668 668  |(% style="width:30px" %) |(((
669 669  The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
... ... @@ -686,7 +686,7 @@
686 686  )))
687 687  
688 688  |(% colspan="2" %)(((
689 -====== Angular Deceleration (**AD**) ======
686 +====== __Angular Deceleration (**AD**)__ ======
690 690  )))
691 691  |(% style="width:30px" %) |(((
692 692  The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
... ... @@ -709,7 +709,7 @@
709 709  )))
710 710  
711 711  |(% colspan="2" %)(((
712 -====== Gyre Direction (**G**) ======
709 +====== __Gyre Direction (**G**)__ ======
713 713  )))
714 714  |(% style="width:30px" %) |(((
715 715  "Gyre" is defined as a circular course or motion. The effect of changing the gyre direction is as if you were to use a mirror image of a circle. By default: CW = 1; CCW = -1.
... ... @@ -732,7 +732,7 @@
732 732  )))
733 733  
734 734  |(% colspan="2" %)(((
735 -====== First Position ======
732 +====== __First Position__ ======
736 736  )))
737 737  |(% style="width:30px" %) |(((
738 738  In certain cases, a user might want to have the servo move to a specific angle upon power up; we refer to this as "first position" (a.k.a. "initial position"). The factory default has no first position value stored in EEPROM and therefore upon power up, the servo remains limp until a position (or hold command) is assigned. Note that the number should be restricted to -1790 (-179.0 degrees) to +1790 (179.0 degrees) and values beyond this will be changed to 1800.
... ... @@ -751,7 +751,7 @@
751 751  )))
752 752  
753 753  |(% colspan="2" %)(((
754 -====== Maximum Motor Duty (**MMD**) ======
751 +====== __Maximum Motor Duty (**MMD**)__ ======
755 755  )))
756 756  |(% style="width:30px" %) |(((
757 757  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.
... ... @@ -768,7 +768,7 @@
768 768  )))
769 769  
770 770  |(% colspan="2" %)(((
771 -====== Maximum Speed in Degrees (**SD**) ======
768 +====== __Maximum Speed in Degrees (**SD**)__ ======
772 772  )))
773 773  |(% style="width:30px" %) |(((
774 774  Ex: #5SD1800<cr>
... ... @@ -797,7 +797,7 @@
797 797  )))
798 798  
799 799  |(% colspan="2" %)(((
800 -====== Maximum Speed in RPM (**SR**) ======
797 +====== __Maximum Speed in RPM (**SR**)__ ======
801 801  )))
802 802  |(% style="width:30px" %) |(((
803 803  Ex: #5SR45<cr>
... ... @@ -828,7 +828,7 @@
828 828  == Modifiers ==
829 829  
830 830  |(% colspan="2" %)(((
831 -====== Speed (**S**, **SD**) modifier ======
828 +====== __Speed__ ======
832 832  )))
833 833  |(% style="width:30px" %) |(((
834 834  Ex: #5P1500S750<cr>
... ... @@ -847,20 +847,18 @@
847 847  )))
848 848  
849 849  |(% colspan="2" %)(((
850 -====== Timed move (**T**) modifier ======
847 +====== __Timed move (**T**) modifier__ ======
851 851  )))
852 852  |(% style="width:30px" %) |(((
853 -
854 -
855 855  Example: #5P1500T2500<cr>
856 856  
857 -Timed move can be used only as a modifier for a position (P, D, MD) actions. The units are in milliseconds, so a timed move of 2500 milliseconds would cause the servo to rotate from its current position to the desired position in 2.5 seconds. The onboard controller will attempt to ensure that the move is performed entirely at the desired velocity, though differences in torque may cause it to not be exact. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.
852 +Timed move can be used only as a modifier for a position (P, D, --MD--) actions. The units are in milliseconds, so a timed move of 2500 milliseconds would cause the servo to rotate from its current position to the desired position in 2.5 seconds. The onboard controller will attempt to ensure that the move is performed entirely at the desired velocity, though differences in torque may cause it to not be exact. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.
858 858  
859 859  **Note:** If the calculated speed at which a servo must rotate for a timed move is greater than its maximum speed (which depends on voltage and load), then it will move at its maximum speed, and the time of the move may be longer than requested.
860 860  )))
861 861  
862 862  |(% colspan="2" %)(((
863 -====== Current Halt & Hold (**CH**) modifier ======
858 +====== __Current Halt & Hold (**CH**) modifier__ ======
864 864  )))
865 865  |(% style="width:30px" %) |(((
866 866  Example: #5D1423CH400<cr>
... ... @@ -871,7 +871,7 @@
871 871  )))
872 872  
873 873  |(% colspan="2" %)(((
874 -====== Current Limp (**CL**) modifier ======
869 +====== __Current Limp (**CL**) modifier__ ======
875 875  )))
876 876  |(% style="width:30px" %) |(((
877 877  Example: #5D1423CL400<cr>
... ... @@ -884,7 +884,7 @@
884 884  == Telemetry ==
885 885  
886 886  |(% colspan="2" %)(((
887 -====== Query Voltage (**QV**) ======
882 +====== __Query Voltage (**QV**)__ ======
888 888  )))
889 889  |(% style="width:30px" %) |(((
890 890  Ex: #5QV<cr> might return *5QV11200<cr>
... ... @@ -893,11 +893,18 @@
893 893  )))
894 894  
895 895  |(% colspan="2" %)(((
896 -====== Query Current (**QC**) ======
891 +====== __Query Temperature (**QT**)__ ======
897 897  )))
898 898  |(% style="width:30px" %) |(((
899 -
894 +Ex: #5QT<cr> might return *5QT564<cr>
900 900  
896 +The units are in tenths of degrees Celcius, so in the example above, the servo's internal temperature is 56.4 degrees C. To convert from degrees Celcius to degrees Farenheit, multiply by 1.8 and add 32. Therefore 56.4C = 133.52F.
897 +)))
898 +
899 +|(% colspan="2" %)(((
900 +====== __Query Current (**QC**)__ ======
901 +)))
902 +|(% style="width:30px" %) |(((
901 901  Ex: #5QC<cr> might return *5QC140<cr>
902 902  
903 903  The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
... ... @@ -904,11 +904,9 @@
904 904  )))
905 905  
906 906  |(% colspan="2" %)(((
907 -====== Query Model String (**QMS**) ======
909 +====== __Query Model String (**QMS**)__ ======
908 908  )))
909 909  |(% style="width:30px" %) |(((
910 -
911 -
912 912  Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
913 913  
914 914  This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
... ... @@ -915,7 +915,7 @@
915 915  )))
916 916  
917 917  |(% colspan="2" %)(((
918 -====== Query Firmware (**QF**) ======
918 +====== __Query Firmware (**QF**)__ ======
919 919  )))
920 920  |(% style="width:30px" %) |(((
921 921  Ex: #5QF<cr> might return *5QF368<cr>
... ... @@ -928,11 +928,9 @@
928 928  == RGB LED ==
929 929  
930 930  |(% colspan="2" %)(((
931 -====== LED Color (**LED**) ======
931 +====== __LED Color (**LED**)__ ======
932 932  )))
933 933  |(% style="width:30px" %) |(((
934 -
935 -
936 936  Ex: #5LED3<cr>
937 937  
938 938  This action sets the servo's RGB LED color for that session.
... ... @@ -955,11 +955,9 @@
955 955  )))
956 956  
957 957  |(% colspan="2" %)(((
958 -====== Configure LED Blinking (**CLB**) ======
956 +====== __Configure LED Blinking (**CLB**)__ ======
959 959  )))
960 960  |(% style="width:30px" %) |(((
961 -
962 -
963 963  This command allows you to control when the RGB LED will blink the user set color (see RGB LED command for details). This is very useful when visually seeing what the servo is doing. You can turn on or off blinking for various LSS status. The command requires that the servo be RESET. Here is the list and their associated value:
964 964  )))
965 965  
... ... @@ -992,7 +992,7 @@
992 992  )))
993 993  
994 994  |(% colspan="2" style="width:30px" %)(((
995 -====== RGB LED Patterns ======
991 +====== __RGB LED Patterns__ ======
996 996  )))
997 997  |(% style="width:30px" %) |(((
998 998  The LED patterns below do not include those which are part of the button menu, which can be found here: [[LSS Button Menu>>url:https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-v2/lynxmotion-smart-servo/lss-button-menu/]]
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