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...	...	@@ -48,7 +48,7 @@
48	48
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]].
	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:LSS - RC PWM.WebHome]].
52	52
53	53	1. Start with a number sign # (U+0023)
54	54	1. Servo ID number as an integer
...	...	@@ -118,7 +118,7 @@
118	118	| 6|**O**rigin Offset| O| QO| CO| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
119	119	| 7|**A**ngular **R**ange| AR| QAR| CAR| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
120	120	| 8|Position in **P**ulse| P| QP| | | ✓| microseconds|(((
121		-See details below.
	121	+See details below
122	122	)))
123	123	| 9|Position in **D**egrees| D| QD| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
124	124	| 10|**W**heel mode in **D**egrees| WD| QWD| | | ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|
...	...	@@ -125,10 +125,10 @@
125	125	| 11|**W**heel mode in **R**PM| WR| QWR| | | ✓| rpm|
126	126	| 12|Max **S**peed in **D**egrees| SD| QSD| CSD| ✓| ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|Add modifier "2" for instantaneous speed
127	127	| 13|Max **S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|Add modifier "2" for instantaneous speed
128		-| 14|**R**igidity| R| QR| CR| ✓| ✓|none|
	128	+| 14|**A**ngular **S**tiffness| AS| QAS| CAS| ✓| ✓|none|
129	129	| 15|//N/A (removed)//| | | | | | |
130	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.
	131	+| 17|**ID** #| ID| QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to
132	132	| 18|**B**aud rate| B| QB| CB| | ✓| none (integer)|
133	133	| 19|**G**yre direction (**G**)| G| QG| CG| ✓| ✓| none | Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise)
134	134	| 20|**F**irst Position (**P**ulse)| | QFP|CFP | ✓| ✓| none |
...	...	@@ -323,11 +323,11 @@
323	323
324	324	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.
325	325
326		-__14. Rigidity (R)__
	326	+__14. Angular Stiffness (AS)__
327	327
328		-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.
	328	+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.
329	329
330		-A positive value of "rigidity":
	330	+A positive value of "angular stiffness":
331	331
332	332	* The more torque will be applied to try to keep the desired position against external input / changes
333	333	* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
...	...	@@ -339,17 +339,17 @@
339	339
340	340	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.
341	341
342		-Ex: #5R-2<cr>
	342	+Ex: #5AS-2<cr>
343	343
344		-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.
	344	+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.
345	345
346		-Ex: #5QR<cr>
	346	+Ex: #5QAS<cr>
347	347
348	348	Queries the value being used.
349	349
350		-Ex: #5CR<cr>
	350	+Ex: #5CAS<cr>
351	351
352		-Writes the desired rigidity value to memory.
	352	+Writes the desired angular stiffness value to memory.
353	353
354	354	__15. N/A (removed)__
355	355