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1		-Main.WebHome
	1	+Lynxmotion Smart Servo (LSS).WebHome

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1		-xwiki:XWiki.RB1
	1	+xwiki:XWiki.CBenson

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1		-LSS|communication|protocol|programming|firmware|control
	1	+LSS|communication|protocol|programming|firmware|control|LSS-Ref

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1		-The Lynxmotion Smart Servo (LSS) protocol was created in order to be as simple and straightforward as possible from a user perspective, while at the same time trying to stay compact and robust yet highly versatile. Almost everything one might expect to be able to configure for a smart servo motor is available.
	1	+(% class="wikigeneratedid" id="HTableofContents" %)
	2	+**Table of Contents**
2	2
3		-=== Session ===
	4	+{{toc depth="3"/}}
4	4
	6	+= Serial Protocol Concept =
	7	+
	8	+The custom 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 compact and robust yet highly versatile. The protocol was based on Lynxmotion's SSC-32 RC servo controller and almost everything one might expect to be able to configure for a smart servo motor is available.
	9	+
	10	+In order to have servos react differently when commands are sent to all servos in a serial bus, the first step a user should take is to assign a different ID number to each servo (explained below). 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 / checksum implemented as part of the protocol.
	11	+
	12	+== Session ==
	13	+
5	5	A "session" is defined as the time between when the servo is powered ON to when it is powered OFF or reset.
6	6
	16	+Note that for a given session, the action related to a specific commands overrides the stored value in EEPROM.
	17	+
7	7	== Action Commands ==
8	8
9		-Action commands are sent serially to the servo's Rx pin and must be set in the following format:
	20	+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 (described below on this page). Action commands are sent serially to the servo's Rx pin and must be sent in the following format:
10	10
11	11	1. Start with a number sign # (U+0023)
12	12	1. Servo ID number as an integer
...	...	@@ -17,16 +17,12 @@
17	17	(((
18	18	Ex: #5PD1443<cr>
19	19
20		-Move servo with ID #5 to a position of 144.3 degrees.
	31	+This sends a serial command to all servo's Rx pins which are connected to the bus and only servo(s) with ID #5 will move to a position in tenths of degrees ("PD") of 144.3 degrees. Any servo on the bus which does not have ID 5 will take no action when receiving this command.
21	21
22		-Action commands cannot be combined with query commands, and only one action command can be sent at a time.
	33	+== Action Modifiers ==
23	23
24		-Action commands are session-specific, therefore once a servo is power cycled, it will not have any "memory" of previous actions or virtual positions (as described at the bottom of this page).
	35	+Only two commands can be used as action modifiers: Timed Move (T) and Speed (S) described below. Action modifiers can only be used with certain action commands. The format to include a modifier is:
25	25
26		-=== Action Modifiers ===
27		-
28		-Two commands can be used as action modifiers only: Timed Move and Speed. The format is:
29		-
30	30	1. Start with a number sign # (U+0023)
31	31	1. Servo ID number as an integer
32	32	1. Action command (one to three letters, no spaces, capital or lower case)
...	...	@@ -37,18 +37,42 @@
37	37
38	38	Ex: #5P1456T1263<cr>
39	39
40		-Results in the servo rotating from the current angular position to a pulse position of 1456 in 1263 milliseconds.
	47	+This results in the servo with ID #5 rotating from the current angular position to a pulse position ("P") of 1456 in a time ("T") of 1263 milliseconds.
	48	+)))
41	41
42		-Modified commands are command specific.
	50	+== Query Commands ==
	51	+
	52	+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:
	53	+
	54	+1. Start with a number sign # (U+0023)
	55	+1. Servo ID number as an integer
	56	+1. Query command (one to three letters, no spaces, capital or lower case)
	57	+1. End with a control / carriage return '<cr>'
	58	+
	59	+(((
	60	+Ex: #5QD<cr>Query position in degrees for servo #5
43	43	)))
44	44
45	45	(((
46		-
	64	+The query will return a serial string (almost instantaneously) via the servo's Tx pin with the following format:
	65	+
	66	+1. Start with an asterisk * (U+002A)
	67	+1. Servo ID number as an integer
	68	+1. Query command (one to three letters, no spaces, capital letters)
	69	+1. The reported value in the units described, no decimals.
	70	+1. End with a control / carriage return '<cr>'
	71	+
	72	+There is currently no option to control how fast a servo replies after it has received a query command, therefore when sending a query command to the bus, the controller should be prepared to immediately "listen" for and parse the reply. Sending multiple queries on a bus in fast succession may result in replies overlapping and giving incorrect or corrupt data. As such, the controller should receive a reply before sending a new command. A reply to the query sent above might be:
	73	+
	74	+(((
	75	+Ex: *5QD1443<cr>
47	47	)))
48	48
	78	+This indicates that servo #5 is currently at 144.3 degrees (1443 tenths of degrees).
	79	+
49	49	== Configuration Commands ==
50	50
51		-Configuration commands affect the servo's current session* but unlike action commands, configuration commands are written to EEPROM and are retained even if the servo loses power (therefore NOT session specific). Not all action commands have a corresponding configuration and vice versa. Certain configurations are retained for when the servo is used in RC model. More information can be found on the [[LSS - RC PWM page>>doc:Lynxmotion Smart Servos (LSS).LSS - RC PWM.WebHome]].
	82	+Configuration commands and corresponding values affect a servo's defaults which are written to and read from the servo's EEPROM. 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 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).LSS - RC PWM.WebHome]]. Configuration commands are not cumulative, in that if two configurations are sent, one after the next, only the last configuration is used and stored. The format to send a configuration command is identical to that of an action command:
52	52
53	53	1. Start with a number sign # (U+0023)
54	54	1. Servo ID number as an integer
...	...	@@ -58,133 +58,154 @@
58	58
59	59	Ex: #5CO-50<cr>
60	60
61		-Assigns an absolute origin offset of -5.0 degrees (with respect to factory origin) to servo #5 and changes the offset for that session to -5.0 degrees.
	92	+This configures an absolute origin offset ("CO") with respect to factory origin to servo with ID #5 and changes the offset for that session to -5.0 degrees (50 tenths of degrees). Once the servo is powered off and then powered on, zeroing the servo will cause it to move to -5.0 degrees with respect to the factory origin and report its position as 0 degrees. Configuration commands can be undone / reset either by sending the servo's default value for that configuration, or by doing a factory reset (clears all configurations) described below.
62	62
63		-Configuration commands are not cumulative, in that if two configurations are sent at any time, only the last configuration is used and stored.
	94	+**Session vs Configuration Query**
64	64
65		-*Important Note: the one exception is the baud rate - the servo's current session retains the given baud rate. The new baud rate will only be in place when the servo is power cycled.
	96	+By default, the query command returns the sessions' value. Should no action commands have been sent to change the session value, it will return the value saved in EEPROM which will either be the servo's default, or modified with a configuration command. In order to query the value stored in EEPROM (configuration), add a '1' to the query command:
66	66
67		-== Query Commands ==
	98	+Ex: #5CSR20<cr> immediately sets the maximum speed for servo #5 to 20rpm (explained below) and changes the value in memory.
68	68
69		-Query commands are sent serially to the servo's Rx pin and must be set in the following format:
	100	+After RESET, a command of #5SR4<cr> sets the session's speed to 4rpm, but does not change the configuration value in memory. Therefore:
70	70
71		-1. Start with a number sign # (U+0023)
72		-1. Servo ID number as an integer
73		-1. Query command (one to three letters, no spaces, capital or lower case)
74		-1. End with a control / carriage return '<cr>'
	102	+#5QSR<cr> would return *5QSR4<cr> which represents the value for that session, whereas
75	75
76		-(((
77		-Ex: #5QD<cr>Query position in degrees for servo #5
78		-)))
	104	+#5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
79	79
80		-(((
81		-The query will return a value via the Tx pin with the following format:
	106	+== Virtual Angular Position ==
82	82
83		-1. Start with an asterisk (U+002A)
84		-1. Servo ID number as an integer
85		-1. Query command (one to three letters, no spaces, capital letters)
86		-1. The reported value in the units described, no decimals.
87		-1. End with a control / carriage return '<cr>'
	108	+The ability to store a "virtual angular position" is a feature which allows for rotation beyond 360 degrees, permitting multiple rotations of the output horn, moving the center position and more. In virtual position mode, the "absolute position" would be the angle of the output shaft with respect to a 360.0 degree circle, and can be obtained by taking the modulus (with respect to 360 degrees) of the value. For example if the virtual position is reported as 15335 (or 1533.5 degrees), taking the modulus would give 93.5 degrees (3600 * 4 + 935 = 15335) as the absolute position (assuming no origin offset).
88	88
89		-(((
90		-Ex: *5QD1443<cr>
91		-)))
	110	+[[image:LSS-servo-positions.jpg]]
92	92
93		-Indicates that servo #5 is currently at 144.3 degrees.
	112	+In this example, the gyre direction (explained below, a.k.a. "rotation direction") is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees. The following command is sent:
94	94
95		-**Session vs Configuration Query**
	114	+#1D-300<cr> This causes the servo to move to -30.0 degrees (green arrow)
96	96
97		-By default, the query command returns the sessions' value; should no action commands have been sent to change, it will return the value saved in EEPROM from the last configuration command.
	116	+#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
98	98
99		-In order to query the value in EEPROM, add a '1' to the query command.
	118	+#1D-4200<cr> This next command rotates the servo counterclockwise to a position of -420 degrees (red arrow), which means one full rotation of 360 degrees plus 60.0 degrees (420.0 - 360.0), with a virtual position of -420.0 degrees.
100	100
101		-Ex: #5CSR20<cr> sets the maximum speed for servo #5 to 20rpm upon RESET (explained below).
	120	+Although the final physical position would be the same as if the servo were commanded to move to -60.0 degrees, the servo is in fact at -420.0 degrees.
102	102
103		-After RESET: #5SR4<cr> sets the session's speed to 4rpm.
	122	+#1D4800<cr> This new command is sent which would then cause the servo to rotate from -420.0 degrees to 480.0 degrees (blue arrow), which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations.
104	104
105		-#5QSR<cr> would return *5QSR4<cr> which represents the value for that session.
	124	+#1D3300<cr> would cause the servo to rotate from 480.0 degrees to 330.0 degrees (yellow arrow).
106	106
107		-#5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
	126	+If / once the servo loses power or is power cycled, it also loses the virtual position associated with that session. For example, if the virtual position was 480.0 degrees before power is cycled, upon power up the servo's position will be read as +120.0 degrees from zero (assuming center position has not been modified).
108	108	)))
109	109
110	110	= Command List =
111	111
112		-|= #|=Description|= Action|= Query|= Config|= RC|= Serial|= Units|= Notes
113		-| 1|**L**imp| L| | | | ✓| none|
114		-| 2|**H**alt & Hold| H| | | | ✓| none|
115		-| 3|**T**imed move| T| | | | ✓| milliseconds| Modifier only
116		-| 4|**S**peed| S| | | | ✓| microseconds / second| Modifier only
117		-| 5|**M**ove in **D**egrees (relative)| MD| | | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
118		-| 6|**O**rigin Offset| O| QO| CO| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
119		-| 7|**A**ngular **R**ange| AR| QAR| CAR| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
120		-| 8|Position in **P**ulse| P| QP| | | ✓| microseconds|(((
121		-See details below.
	131	+|= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
	132	+| 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| L| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	133	+| 2|[[**H**alt & **H**old>>||anchor="H2.Halt26Hold28H29"]]| H| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	134	+| 3|[[**T**imed move>>||anchor="H3.Timedmove28T29"]]| T| | | | | ✓|milliseconds|(% style="width:510px" %) Modifier only for {P, D, MD}|(% style="text-align:center; width:113px" %)
	135	+| 4|[[**S**peed>>||anchor="H4.Speed28S29"]]| S| | | | | ✓|microseconds per second|(% style="width:510px" %) Modifier only {P}|(% style="text-align:center; width:113px" %)
	136	+| 5|[[**M**ove in **D**egrees (relative)>>||anchor="H5.28Relative29MoveinDegrees28MD29"]]| MD| | | | | ✓|tenths of degrees (ex 325 = 32.5 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	137	+| 6|[[**O**rigin Offset>>||anchor="H6.OriginOffsetAction28O29"]]| O| QO|CO|✓| ✓| ✓|tenths of degrees (ex 91 = 9.1 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
	138	+0
122	122	)))
123		-| 9|Position in **D**egrees| D| QD| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
124		-| 10|**W**heel mode in **D**egrees| WD| QWD| | | ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|
125		-| 11|**W**heel mode in **R**PM| WR| QWR| | | ✓| rpm|
126		-| 12|**S**peed in **D**egrees| SD| QSD| CSD| ✓| ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|
127		-| 13|**S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|
128		-| 14|**R**igidity| R| QR| CR| ✓| ✓|none|
129		-| 15|//N/A (removed)//| | | | | | |
130		-| 16|**LED** Color| LED| QLED| CLED| ✓| ✓| none (integer from 1 to 8)|0=OFF 1=RED 2=GREEN 3= BLUE 4=YELLOW 5=CYAN 6= 7=MAGENTA, 8=WHITE
131		-| 17|**ID** #| ID| QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to.
132		-| 18|**B**aud rate| B| QB| CB| | ✓| none (integer)|
133		-| 19|**G**yre direction (**G**)| G| QG| CG| ✓| ✓| none | Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise)
134		-| 20|**F**irst Position (**P**ulse)| | QFP|CFP | ✓| ✓| none |
135		-| 21|**F**irst Position (**D**egrees)| | QFD|CFD| ✓| ✓| none |
136		-| 22|**T**arget (**D**egree) **P**osition| | QDT| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
137		-| 23|**M**odel| | QM| | | | none (integer)|
138		-| 24|Serial **N**umber| | QN| | | | none (integer)|
139		-| 25|**F**irmware version| | QF| | | | none (integer)|
140		-| 26|**Q**uery (general status)| | Q| | | ✓| none (integer from 1 to 8)|
141		-| 27|**V**oltage| | QV| | | ✓| tenths of volt (ex 113 = 11.3V; 92 = 9.2V)|
142		-| 28|**T**emperature| | QT| | | ✓| degrees Celsius|
143		-| 29|**C**urrent| | QC| | | ✓| tenths of Amps (ex 2 = 0.2A)|
144		-| | | | | | | | |
145		-| | | | | | | | |
	140	+| 7|[[**A**ngular **R**ange>>||anchor="H7.AngularRange28AR29"]]| AR| QAR| CAR|✓| ✓| ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
	141	+1800
	142	+)))
	143	+| 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| P| QP| | | | ✓|microseconds|(% style="width:510px" %)(((
	144	+Inherited from SSC-32 serial protocol
	145	+)))|(% style="text-align:center; width:113px" %)
	146	+| 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD| | | | ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	147	+| 10|[[**W**heel mode in **D**egrees>>||anchor="H10.WheelModeinDegrees28WD29"]]| WD| QWD| | | | ✓|tenths of degrees per second (ex 248 = 24.8 degrees per second)|(% style="width:510px" %)A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center; width:113px" %)
	148	+| 11|[[**W**heel mode in **R**PM>>||anchor="H11.WheelModeinRPM28WR29"]]| WR| QWR| | | | ✓|revolutions per minute (rpm)|(% style="width:510px" %)A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center; width:113px" %)
	149	+| 12|[[Max **S**peed in **D**egrees>>||anchor="H12.SpeedinDegrees28SD29"]]| SD| QSD|CSD|✓| ✓| ✓|tenths of degrees per second |(% style="width:510px" %)(((
	150	+QSD: Add modifier "2" for instantaneous speed.
146	146
147		-= Details =
	152	+SD overwrites SR / CSD overwrites CSR and vice-versa.
	153	+)))|(% style="text-align:center; width:113px" %)Max per servo
	154	+| 13|[[Max **S**peed in **R**PM>>||anchor="H13.SpeedinRPM28SR29"]]| SR| QSR|CSR|✓| ✓| ✓|revolutions per minute (rpm)|(% style="width:510px" %)(((
	155	+QSR: Add modifier "2" for instantaneous speed
148	148
149		-__1. Limp (**L**)__
	157	+SR overwrites SD / CSR overwrites CSD and vice-versa.
	158	+)))|(% style="text-align:center; width:113px" %)Max per servo
	159	+| 16|[[**LED** Color>>||anchor="H16.RGBLED28LED29"]]| LED| QLED| CLED|✓| ✓| ✓|none (integer from 0 to 8)|(% style="width:510px" %)0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;|(% style="text-align:center; width:113px" %)7
	160	+| 17|[[**ID** #>>||anchor="H17.IdentificationNumber"]]| | QID| CID| | | ✓|none (integer from 0 to 250)|(% style="width:510px" %)Note: ID 254 is a "broadcast" which all servos respond to|(% style="text-align:center; width:113px" %)0
	161	+| 18|[[**B**aud rate>>||anchor="H18.BaudRate"]]| B| QB| CB| | | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)9600
	162	+| 19|[[**G**yre direction (**G**)>>||anchor="H19.GyreRotationDirection"]]| G| QG| CG|✓| ✓| ✓|none |(% style="width:510px" %)Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise)|(% style="text-align:center; width:113px" %)1
	163	+| 20|[[**F**irst Position (**P**ulse)>>||anchor="H20.First2InitialPosition28pulse29"]]| | QFP|CFP | | ✓| ✓|none |(% style="width:510px" %)CFP overwrites CFD and vice-versa|(% style="text-align:center; width:113px" %)(((
	164	+Limp
	165	+)))
	166	+| 21|[[**F**irst Position (**D**egrees)>>||anchor="H21.First2InitialPosition28Degrees29"]]| | QFD|CFD| | ✓| ✓|none |(% style="width:510px" %)CFD overwrites CFP and vice-versa|(% style="text-align:center; width:113px" %)Limp
	167	+| 22|[[**T**arget (**D**egree) **P**osition>>||anchor="H22.QueryTargetPositioninDegrees28QDT29"]]| | QDT| | | | ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	168	+| 23|[[**M**odel **S**tring>>||anchor="H23.QueryModelString28QMS29"]]| | QMS| | | | |none (string)|(% style="width:510px" %) Returns the type of servo (ST, HS, HT)|(% style="text-align:center; width:113px" %)
	169	+| 24|[[Serial **N**umber>>||anchor="H24.QuerySerialNumber28QN29"]]| | QN| | | | |none (integer)|(% style="width:510px" %) Returns the unique serial number for that servo|(% style="text-align:center; width:113px" %)
	170	+| 25|[[**F**irmware version>>||anchor="H25.QueryFirmware28QF29"]]| | QF| | | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	171	+| 26|[[**Q**uery (general status)>>||anchor="H26.QueryStatus28Q29"]]| | Q| | | | ✓|none (integer from 1 to 8)|(% style="width:510px" %) See command description for details|(% style="text-align:center; width:113px" %)
	172	+| 27|[[**V**oltage>>||anchor="H27.QueryVoltage28QV29"]]| | QV| | | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	173	+| 28|[[**T**emperature>>||anchor="H28.QueryTemperature28QT29"]]| | QT| | | | ✓|tenths of degrees Celsius|(% style="width:510px" %)Max temp before error: 85°C (servo goes limp)|(% style="text-align:center; width:113px" %)
	174	+| 29|[[**C**urrent>>||anchor="H29.QueryCurrent28QC29"]]| | QC| | | | ✓|milliamps (ex 200 = 0.2A)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	175	+| 30a|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]] - Position| | |CRC1| | | ✓|none|(% style="width:510px" %)(((
	176	+Puts the servo into RC mode. To revert to smart mode, use the button menu.
	177	+)))|(% style="text-align:center; width:113px" %)Serial
	178	+| 30b|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]] - Wheel| | |CRC2| | | ✓| |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	179	+| 31|[[**RESET**>>||anchor="H31.RESET"]]| | | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %)
	180	+| 32|[[**DEFAULT**>>||anchor="H32.DEFAULTA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %)
	181	+| 33|[[**UPDATE**>>||anchor="H33.UPDATEA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Update firmware. See command for details.|(% style="text-align:center; width:113px" %)
150	150
	183	+== Advanced ==
	184	+
	185	+|= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
	186	+| A1|[[**A**ngular **S**tiffness>>||anchor="H14.AngularStiffness28AS29"]]| AS|QAS|CAS|✓| ✓| ✓|none (integer -4 to +4)|(% style="width:510px" %)Suggested values are between 0 to +4|(% style="text-align:center; width:113px" %)0
	187	+| A2|[[**A**ngular **H**olding Stiffness>>||anchor="H15.AngularHoldStiffness28AH29"]]|AH|QAH|CAH|✓| | ✓|none (integer -10 to +10)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)1
	188	+| A3|[[**A**ngular **A**cceleration>>||anchor="H15b:AngularAcceleration28AA29"]]|AA|QAA|CAA|✓| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared|(% style="text-align:center; width:113px" %)
	189	+| A4|[[**A**ngular **D**eceleration>>||anchor="H15c:AngularDeceleration28AD29"]]|AD|QAD|CAD|✓| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared|(% style="text-align:center; width:113px" %)
	190	+| A5|[[**E**nable **M**otion Control>>||anchor="H15d:MotionControl28MC29"]]|EM|QEM| | | | ✓|none|(% style="width:510px" %)EM0 to disable motion control, EM1 to enable|(% style="text-align:center; width:113px" %)
	191	+| A6|[[**C**onfigure **L**ED **B**linking>>||anchor="H16b.ConfigureLEDBlinking28CLB29"]]| | | CLB| | ✓| |none (integer from 0 to 63)|(% style="width:510px" %)(((
	192	+0=No blinking, 63=Always blink;
	193	+
	194	+Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;
	195	+)))|(% style="text-align:center; width:113px" %)
	196	+
	197	+== Details ==
	198	+
	199	+====== __1. Limp (**L**)__ ======
	200	+
151	151	Example: #5L<cr>
152	152
153	153	This action causes the servo to go "limp". The microcontroller will still be powered, but the motor will not. As an emergency safety feature, should the robot not be doing what it is supposed to or risks damage, use the broadcast ID to set all servos limp #254L<cr>.
154	154
155		-__2. Halt & Hold (**H**)__
	205	+====== __2. Halt & Hold (**H**)__ ======
156	156
157	157	Example: #5H<cr>
158	158
159		-This action overrides whatever the servo might be doing at the time the command is received (accelerating, moving continuously etc.) and causes it to stop immediately and hold that position.
	209	+This action overrides whatever the servo might be doing at the time the command is received (accelerating, moving continuously etc.) and causes it to stop immediately and hold that angular position.
160	160
161		-__3. Timed move (**T**)__
	211	+====== __3. Timed move (**T**)__ ======
162	162
163	163	Example: #5P1500T2500<cr>
164	164
165		-Timed move can be used only as a modifier for a position (P) action. 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. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.
	215	+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.
166	166
167		-__4. Speed (**S**)__
	217	+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.
168	168
	219	+====== __4. Speed (**S**)__ ======
	220	+
169	169	Example: #5P1500S750<cr>
170	170
171	171	This command is a modifier 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.
172	172
173		-__5. (Relative) Move in Degrees (**MD**)__
	225	+====== __5. (Relative) Move in Degrees (**MD**)__ ======
174	174
175	175	Example: #5MD123<cr>
176	176
177	177	The relative move command causes the servo to read its current position and move the specified number of tenths of degrees in the corresponding position. For example if the servo is set to rotate CW (default) and an MD command of 123 is sent to the servo, it will cause the servo to rotate clockwise by 12.3 degrees. Negative commands would cause the servo to rotate in the opposite configured direction.
178	178
179		-__6. Origin Offset Action (**O**)__
	231	+====== __6. Origin Offset Action (**O**)__ ======
180	180
181	181	Example: #5O2400<cr>
182	182
183		-This command allows you to temporarily change the origin of the servo in relation to the factory zero position. The setting will be lost upon servo reset / power cycle. Origin offset commands are not cumulative and always relate to factory zero. Note that for a given session, the O command overrides the CO command. In the first image, the origin at factory offset '0' (centered).
	235	+This command allows you to temporarily change the origin of the servo in relation to the factory zero position for that session. As with all action commands, the setting will be lost upon servo reset / power cycle. Origin offset commands are not cumulative and always relate to factory zero. In the first image, the origin at factory offset '0' (centered).
184	184
185	185	[[image:LSS-servo-default.jpg]]
186	186
187		-In the second image, the origina, as well as the angular range (explained below) have been shifted by 240.0 degrees:
	239	+In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
188	188
189	189	[[image:LSS-servo-origin.jpg]]
190	190
...	...	@@ -192,39 +192,39 @@
192	192
193	193	Example: #5QO<cr> Returns: *5QO-13
194	194
195		-This allows you to query the angle (in tenths of degrees) of the origin in relation to the factory zero position.
	247	+This allows you to query the angle (in tenths of degrees) of the origin in relation to the factory zero position. In this example, the new origin is at -1.3 degrees from the factory zero.
196	196
197	197	Configure Origin Offset (**CO**)
198	198
199	199	Example: #5CO-24<cr>
200	200
201		-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.
	253	+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.
202	202
203		-__7. Angular Range (**AR**)__
	255	+====== __7. Angular Range (**AR**)__ ======
204	204
205	205	Example: #5AR1800<cr>
206	206
207		-This command allows you to temporarily change the total angular range of the servo in tenths of degrees. This applies to the Position in Pulse (P) command and RC mode. The default for (P) and RC mode is 1800 (180.0 degrees total, or ±90.0 degrees). In the first image,
	259	+This command allows you to temporarily change the total angular range of the servo in tenths of degrees. This applies to the Position in Pulse (P) command and RC mode. The default for (P) and RC mode is 1800 (180.0 degrees total, or ±90.0 degrees). The image below shows a standard -180.0 to +180.0 range, with no offset:
208	208
209	209	[[image:LSS-servo-default.jpg]]
210	210
211		-Here, the angular range has been restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
	263	+Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
212	212
213	213	[[image:LSS-servo-ar.jpg]]
214	214
215		-The angular range action command (ex. #5AR1800<cr>) and origin offset action command (ex. #5O-1200<cr>) an be used to move both the center and limit the angular range:
	267	+Finally, the angular range action command (ex. #5AR1800<cr>) and origin offset action command (ex. #5O-1200<cr>) are used to move both the center and limit the angular range:
216	216
217	217	[[image:LSS-servo-ar-o-1.jpg]]
218	218
219	219	Query Angular Range (**QAR**)
220	220
221		-Example: #5QAR<cr> might return *5AR2756
	273	+Example: #5QAR<cr> might return *5AR1800, indicating the total angular range is 180.0 degrees.
222	222
223	223	Configure Angular Range (**CAR**)
224	224
225	225	This command allows you to change the total angular range of the servo in tenths of degrees in EEPROM. The setting will be saved upon servo reset / power cycle.
226	226
227		-__8. Position in Pulse (**P**)__
	279	+====== __8. Position in Pulse (**P**)__ ======
228	228
229	229	Example: #5P2334<cr>
230	230
...	...	@@ -232,12 +232,12 @@
232	232
233	233	Query Position in Pulse (**QP**)
234	234
235		-Example: #5QP<cr> might return *5QP
	287	+Example: #5QP<cr> might return *5QP2334
236	236
237	237	This command queries the current angular position in PWM "units". The user must take into consideration that the response includes any angular range and origin configurations in order to determine the actual angle.
238		-Valid values for QP are {-500, [500, 2500], -2500}. Values outside the [500, 2500] range are given a negative corresponding end point value to indicate they are out of bounds.
	290	+Valid values for QP are {-500, [500, 2500], -2500}. Values outside the [500, 2500] range are given a negative corresponding end point value to indicate they are out of bounds (note that if the servo is physically located at one of the endpoints, it may return a negative number if it is a fraction of a degree beyond the position).
239	239
240		-__9. Position in Degrees (**D**)__
	292	+====== __9. Position in Degrees (**D**)__ ======
241	241
242	242	Example: #5PD1456<cr>
243	243
...	...	@@ -247,10 +247,12 @@
247	247
248	248	Query Position in Degrees (**QD**)
249	249
250		-Example: #5QD<cr> might return *5QD0<cr>
	302	+Example: #5QD<cr> might return *5QD132<cr>
251	251
252		-__10. Wheel Mode in Degrees (**WD**)__
	304	+This means the servo is located at 13.2 degrees.
253	253
	306	+====== __10. Wheel Mode in Degrees (**WD**)__ ======
	307	+
254	254	Ex: #5WD900<cr>
255	255
256	256	This command sets the servo to wheel mode where it will rotate in the desired direction at the selected speed. The example above would have the servo rotate at 90.0 degrees per second clockwise (assuming factory default configurations).
...	...	@@ -261,7 +261,7 @@
261	261
262	262	The servo replies with the angular speed in tenths of degrees per second. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
263	263
264		-__11. Wheel Mode in RPM (**WR**)__
	318	+====== __11. Wheel Mode in RPM (**WR**)__ ======
265	265
266	266	Ex: #5WR40<cr>
267	267
...	...	@@ -273,7 +273,7 @@
273	273
274	274	The servo replies with the angular speed in rpm. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
275	275
276		-__12. Speed in Degrees (**SD**)__
	330	+====== __12. Speed in Degrees (**SD**)__ ======
277	277
278	278	Ex: #5SD1800<cr>
279	279
...	...	@@ -283,14 +283,14 @@
283	283
284	284	Ex: #5QSD<cr> might return *5QSD1800<cr>
285	285
286		-By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever a SD command is processed.
	340	+By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever a SD/SR command is processed.
287	287	If #5QSD1<cr> is sent, the configured maximum speed (CSD value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
288	288
289	289	|**Command sent**|**Returned value (1/10 °)**
290		-|ex: #5QSR<cr>|Current session value for maximum speed (set by latest SD/SR command)
291		-|ex: #5QSR1<cr>|Current maximum speed configured (set by CSD/CSR)
292		-|ex: #5QSR2<cr>|Current speed.
293		-|ex: #5QSR3<cr>|Target travel speed.
	344	+|ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
	345	+|ex: #5QSD1<cr>|Configured maximum speed  (set by CSD/CSR)
	346	+|ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
	347	+|ex: #5QSD3<cr>|Target travel speed
294	294
295	295	Configure Speed in Degrees (**CSD**)
296	296
...	...	@@ -298,7 +298,7 @@
298	298
299	299	Using the CSD command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 180.0 degrees per second. When the servo is powered on (or after a reset), the CSD value is used. Note that CSD and CSR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.
300	300
301		-__13. Speed in RPM (**SR**)__
	355	+====== __13. Speed in RPM (**SR**)__ ======
302	302
303	303	Ex: #5SD45<cr>
304	304
...	...	@@ -308,19 +308,26 @@
308	308
309	309	Ex: #5QSR<cr> might return *5QSR45<cr>
310	310
311		-Note that the QSD query will return the current servo speed. Querying the last maximum speed value set using SR or CSR is not possible.
	365	+By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever a SD/SR command is processed.
	366	+If #5QSR1<cr> is sent, the configured maximum speed (CSR value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
312	312
313		-Configure Speed in Degrees (**CSR**)
	368	+|**Command sent**|**Returned value (1/10 °)**
	369	+|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
	370	+|ex: #5QSR1<cr>|Configured maximum speed  (set by CSD/CSR)
	371	+|ex: #5QSR2<cr>|Instantaneous speed (same as QWR)
	372	+|ex: #5QSR3<cr>|Target travel speed
314	314
	374	+Configure Speed in RPM (**CSR**)
	375	+
315	315	Ex: #5CSR45<cr>
316	316
317		-Using the CSD command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSD value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.
	378	+Using the CSR command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSR value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.
318	318
319		-__14. Rigidity (R)__
	380	+====== __14. Angular Stiffness (**AS**)__ ======
320	320
321		-The servo's rigidity can be thought of as (though not identical to) a damped spring in which the rigidity value affects the stiffness and embodies how much, and how quickly the servo tried keep the requested position against changes.
	382	+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.
322	322
323		-A positive value of "rigidity":
	384	+A positive value of "angular stiffness":
324	324
325	325	* The more torque will be applied to try to keep the desired position against external input / changes
326	326	* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
...	...	@@ -332,24 +332,52 @@
332	332
333	333	The default value is zero and the effect becomes extreme by -4, +4. There are no units, only integers between -4 to 4. Greater values produce increasingly erratic behavior.
334	334
335		-Ex: #5R-2<cr>
	396	+Ex: #5AS-2<cr>
336	336
337		-This reduces the rigidity to -2 for that session, allowing the servo to deviate more around the desired position. This can be beneficial in many situations such as impacts (legged robots) where more of a "spring" effect is desired. Upon reset, the servo will use the value stored in memory, based on the last configuration command.
	398	+This reduces the angular stiffness to -2 for that session, allowing the servo to deviate more around the desired position. This can be beneficial in many situations such as impacts (legged robots) where more of a "spring" effect is desired. Upon reset, the servo will use the value stored in memory, based on the last configuration command.
338	338
339		-Ex: #5QR<cr>
	400	+Ex: #5QAS<cr>
340	340
341	341	Queries the value being used.
342	342
343		-Ex: #5CR<cr>
	404	+Ex: #5CAS<cr>
344	344
345		-Writes the desired rigidity value to memory.
	406	+Writes the desired angular stiffness value to memory.
346	346
347		-__15. N/A (removed)__
	408	+====== __15. Angular Hold Stiffness (**AH**)__ ======
348	348
349		-This command has been removed.
	410	+The angular holding stiffness determines the servo's ability to hold a desired position under load. Values can be from -10 to 10, with the default being 0. Note that negative values mean the final position can be easily deflected.
350	350
351		-__16. RGB LED (**LED**)__
	412	+Ex: #5AH3<cr>
352	352
	414	+This sets the holding stiffness for servo #5 to 3 for that session.
	415	+
	416	+Query Angular Hold Stiffness (**QAH**)
	417	+
	418	+Ex: #5QAH<cr> might return *5QAH3<cr>
	419	+
	420	+This returns the servo's angular holding stiffness value.
	421	+
	422	+Configure Angular Hold Stiffness (**CAH**)
	423	+
	424	+Ex: #5CAH2<cr>
	425	+
	426	+This writes the angular holding stiffness of servo #5 to 2 to EEPROM
	427	+
	428	+====== __15b: Angular Acceleration (**AA**)__ ======
	429	+
	430	+{More details to come}
	431	+
	432	+====== __15c: Angular Deceleration (**AD**)__ ======
	433	+
	434	+{More details to come}
	435	+
	436	+====== __15d: Motion Control (**EM**)__ ======
	437	+
	438	+{More details to come}
	439	+
	440	+====== __16. RGB LED (**LED**)__ ======
	441	+
353	353	Ex: #5LED3<cr>
354	354
355	355	This action sets the servo's RGB LED color for that session.The LED can be used for aesthetics, or (based on user code) to provide visual status updates. Using timing can create patterns.
...	...	@@ -364,25 +364,39 @@
364	364
365	365	Configure LED Color (**CLED**)
366	366
367		-Configuring the LED color via the CLED command sets the startup color of the servo after a reset or power cycle.
	456	+Configuring the LED color via the CLED command sets the startup color of the servo after a reset or power cycle. Note that it also changes the session's LED color immediately as well.
368	368
369		-__17. Identification Number__
	458	+====== __16b. Configure LED Blinking (**CLB**)__ ======
370	370
	460	+This command allows you to control when the RGB LED will blink the user set color (see [[16. RGB LED>>||anchor="H16.RGBLED28LED29"]] for details).
	461	+You can turn on or off blinking for various LSS status. Here is the list and their associated value: 0=No blinking, ; 63=Always blink; Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;
	462	+
	463	+To set blinking, use CLB with the value of your choosing. To activate blinking in multiple status, simply add together the values of the corresponding status. See examples below:
	464	+
	465	+Ex: #5CLB0<cr> to turn off all blinking (LED always solid)
	466	+Ex: #5CLB1<cr> only blink when limp
	467	+Ex: #5CLB2<cr> only blink when holding
	468	+Ex: #5CLB12<cr> only blink when accel or decel
	469	+Ex: #5CLB48<cr> only blink when free or travel
	470	+Ex: #5CLB63<cr> blink in all status
	471	+
	472	+====== __17. Identification Number__ ======
	473	+
371	371	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.
372	372
373	373	Query Identification (**QID**)
374	374
375		-EX: #QID<cr> might return *QID5<cr>
	478	+EX: #254QID<cr> might return *QID5<cr>
376	376
377		-When using the query ID command, it is best to only have one servo connected and thus receive only one reply.
	480	+When using the query ID command, it is best to only have one servo connected and thus receive only one reply using the broadcast command (ID 254). Alternatively, pushing the button upon startup and temporarily setting the servo ID to 255 will still result in the servo responding with its "real" ID.
378	378
379	379	Configure ID (**CID**)
380	380
381		-Ex: #CID5<cr>
	484	+Ex: #4CID5<cr>
382	382
383	383	Setting a servo's ID in EEPROM is done via the CID command. All servos connected to the same serial bus will be assigned that ID. In most situations each servo must be set a unique ID, which means each servo must be connected individually to the serial bus and receive a unique CID number. It is best to do this before the servos are added to an assembly. Numbered stickers are provided to distinguish each servo after their ID is set, though you are free to use whatever alternative method you like.
384	384
385		-__18. Baud Rate__
	488	+====== __18. Baud Rate__ ======
386	386
387	387	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 9600. Since smart servos are intended to be daisy chained, in order to respond to the same serial bus, all servos in that project should ideally 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: 9.6 kbps, 19.2 kbps, 38.4 kbps, 57.6 kbps, 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 9600. The baud rates are currently restricted to those above.
388	388	\*: Current tests reveal baud rates above 500 kbps are unstable and can cause timeouts. Please keep this in mind if using those / testing them out.
...	...	@@ -395,11 +395,13 @@
395	395
396	396	Configure Baud Rate (**CB**)
397	397
	501	+Important Note: the servo's current session retains the given baud rate and the new baud rate will only be in place when the servo is power cycled.
	502	+
398	398	Ex: #5CB9600<cr>
399	399
400	400	Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
401	401
402		-__19. Gyre Rotation Direction__
	507	+====== __19. Gyre Rotation Direction__ ======
403	403
404	404	"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. CW = 1; CCW = -1. The factory default is clockwise (CW).
405	405
...	...	@@ -417,25 +417,25 @@
417	417
418	418	This changes the gyre direction as described above and also writes to EEPROM.
419	419
420		-__20. First / Initial Position (pulse)__
	525	+====== __20. First / Initial Position (pulse)__ ======
421	421
422		-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". 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. FP and FD are different in that FP is used for RC mode only, whereas FD is used for serial mode only.
	527	+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". 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. FP and FD are different in that FP is used for RC mode only, whereas FD is used for smart mode only.
423	423
424	424	Query First Position in Pulses (**QFP**)
425	425
426	426	Ex: #5QFP<cr> might return *5QFP1550<cr>
427	427
428		-The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds.
	533	+The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds. If no first position has been set, servo will respond with DIS ("disabled").
429	429
430		-Configure First Position in Pulses (CFP)
	535	+Configure First Position in Pulses (**CFP**)
431	431
432	432	Ex: #5CP1550<cr>
433	433
434		-This configuration command means the servo, when set to RC mode, will immediately move to an angle equivalent to having received an RC pulse of 1550 microseconds upon power up. Sending a CFP command without a number results in the servo remaining limp upon power up.
	539	+This configuration command means the servo, when set to RC mode, will immediately move to an angle equivalent to having received an RC pulse of 1550 microseconds upon power up. Sending a CFP command without a number results in the servo remaining limp upon power up (i.e. disabled).
435	435
436		-__21. First / Initial Position (Degrees)__
	541	+====== __21. First / Initial Position (Degrees)__ ======
437	437
438		-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". 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. FP and FD are different in that FP is used for RC mode only, whereas FD is used for serial mode only.
	543	+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". 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. FP and FD are different in that FP is used for RC mode only, whereas FD is used for smart mode only.
439	439
440	440	Query First Position in Degrees (**QFD**)
441	441
...	...	@@ -447,63 +447,92 @@
447	447
448	448	Ex: #5CD64<cr>
449	449
450		-This configuration command means the servo, when set to serial mode, will immediately move to 6.4 degrees upon power up. Sending a CFD command without a number results in the servo remaining limp upon power up.
	555	+This configuration command means the servo, when set to smart mode, will immediately move to 6.4 degrees upon power up. Sending a CFD command without a number results in the servo remaining limp upon power up.
451	451
452		-__22. Query Target Position in Degrees (**QDT**)__
	557	+====== __22. Query Target Position in Degrees (**QDT**)__ ======
453	453
454	454	Ex: #5QDT<cr> might return *5QDT6783<cr>
455	455
456	456	The query target position command returns the target angle during and after an action which results in a rotation of the servo horn. In the example above, the servo is rotating to a virtual position of 678.3 degrees. Should the servo not have a target position or be in wheel mode, it will respond without a number (Ex: *5QDT<cr>).
457	457
458		-__23. Query Model (**QM**)__
	563	+====== __23. Query Model String (**QMS**)__ ======
459	459
460		-Ex: #5QM<cr> might return *5QM11<cr>
	565	+Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
461	461
462		-This reply means the servo model is 1.1, meaning high speed servo, first revision. 1=HS (high speed) 2=ST (standard) 3=HT (high torque)
	567	+This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
463	463
464		-__24. Query Serial Number (**QN**)__
	569	+====== __23b. Query Model (**QM**)__ ======
465	465
	571	+Ex: #5QM<cr> might return *5QM68702699520cr>
	572	+
	573	+This reply means the servo model is 0xFFF000000 or 100, meaning a high speed servo, first revision.
	574	+
	575	+====== __24. Query Serial Number (**QN**)__ ======
	576	+
466	466	Ex: #5QN<cr> might return *5QN~_~_<cr>
467	467
468	468	The number in the response is the servo's serial number which is set and cannot be changed.
469	469
470		-__25. Query Firmware (**QF**)__
	581	+====== __25. Query Firmware (**QF**)__ ======
471	471
472	472	Ex: #5QF<cr> might return *5QF11<cr>
473	473
474	474	The integer in the reply represents the firmware version with one decimal, in this example being 1.1
475	475
476		-__26. Query Status (**Q**)__
	587	+====== __26. Query Status (**Q**)__ ======
477	477
478		-Ex: #5Q<cr> might return *5Q_<cr>
	589	+Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
479	479
480		-{Description coming soon}
	591	+|*Value returned|**Status**|**Detailed description**
	592	+|ex: *5Q0<cr>|Unknown|LSS is unsure
	593	+|ex: *5Q1<cr>|Limp|Motor driving circuit is not powered and horn can be moved freely
	594	+|ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
	595	+|ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
	596	+|ex: *5Q4<cr>|Traveling|Moving at a stable speed
	597	+|ex: *5Q5<cr>|Decelerating|Decreasing from travel speed towards final position.
	598	+|ex: *5Q6<cr>|Holding|Keeping current position
	599	+|ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque
	600	+|ex: *5Q8<cr>|Outside limits|{More details coming soon}
	601	+|ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting
	602	+|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
481	481
482		-__27. Query Voltage (**QV**)__
	604	+====== __27. Query Voltage (**QV**)__ ======
483	483
484		-Ex: #5QV<cr> might return *5QV112<cr>
	606	+Ex: #5QV<cr> might return *5QV11200<cr>
485	485
486	486	The number returned has one decimal, so in the case above, servo with ID 5 has an input voltage of 11.2V (perhaps a three cell LiPo battery).
487	487
488		-__28. Query Temperature (**QT**)__
	610	+====== __28. Query Temperature (**QT**)__ ======
489	489
490	490	Ex: #5QT<cr> might return *5QT564<cr>
491	491
492	492	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.
493	493
494		-__29. Query Current (QC)__
	616	+====== __29. Query Current (**QC**)__ ======
495	495
496	496	Ex: #5QC<cr> might return *5QC140<cr>
497	497
498	498	The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
499	499
500		-__**RESET**__
	622	+====== __30. RC Mode (**CRC**)__ ======
501	501
	624	+This command puts the servo into RC mode (position or continuous), where it will only respond to RC pulses. Note that because this is the case, the servo will no longer accept serial commands. The servo can be placed back into smart mode by using the button menu.
	625	+
	626	+|**Command sent**|**Note**
	627	+|ex: #5CRC<cr>|Stay in smart mode.
	628	+|ex: #5CRC1<cr>|Change to RC position mode.
	629	+|ex: #5CRC2<cr>|Change to RC continuous (wheel) mode.
	630	+|ex: #5CRC*<cr>|Where * is any number or value. Stay in smart mode.
	631	+
	632	+EX: #5CRC<cr>
	633	+
	634	+====== __31. RESET__ ======
	635	+
502	502	Ex: #5RESET<cr> or #5RS<cr>
503	503
504	504	This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
505	505
506		-**__DEFAULT __**__& **CONFIRM**__
	640	+====== __32. DEFAULT & CONFIRM__ ======
507	507
508	508	Ex: #5DEFAULT<cr>
509	509
...	...	@@ -515,7 +515,7 @@
515	515
516	516	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
517	517
518		-**__UPDATE __**__& **CONFIRM**__
	652	+====== __33. UPDATE & CONFIRM__ ======
519	519
520	520	Ex: #5UPDATE<cr>
521	521
...	...	@@ -526,23 +526,3 @@
526	526	Since it it not common to have to update firmware, a confirmation command is needed after an UPDATE command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will leave the firmware action.
527	527
528	528	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
529		-
530		-=== Virtual Angular Position ===
531		-
532		-{In progress}
533		-
534		-A "virtual position" is one which allows for multiple rotations of the output horn, moving the center position and more. The "absolute position" would be the angle of the output shaft with respect to 360.0 degrees.
535		-
536		-[[image:LSS-servo-positions.jpg]]
537		-
538		-Example: Gyre direction / rotation is positive (clockwise), and origin offset has not been modified.
539		-
540		-#1D-300<cr> The servo is commander to move to -30.0 degrees (green arrow)
541		-
542		-#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
543		-
544		-#1D-4200<cr> The servo rotates counterclockwise to a position of -420 degrees (red arrow), which means one full rotation of 360 degrees and (420.0-360.0) stopping at an absolute position of 60.0 degrees, but virtual position of -420.0.
545		-
546		-Although the final position would be the same as if the servo were commanded to move to -60.0 degrees, it is in fact at -420.0 degrees.
547		-
548		-#1D4800<cr> This new command is sent which would then cause the servo to rotate from -420.0 degrees to 480.0 degrees, which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations.

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