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1		-Main.WebHome
	1	+lynxmotion:LSS - Overview (DEV).WebHome

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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: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 - Overview (DEV).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
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127	127	| 13|Max **S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|Add modifier "2" for instantaneous speed
128	128	| 14|**A**ngular **S**tiffness| AS| QAS| CAS| ✓| ✓|none|
129	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
	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=VIOLET 7=MAGENTA, 8=WHITE
131	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)
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139	139	| 25|**F**irmware version| | QF| | | | none (integer)|
140	140	| 26|**Q**uery (general status)| | Q| | | ✓| none (integer from 1 to 8)| See command description for details
141	141	| 27|**V**oltage| | QV| | | ✓| tenths of volt (ex 113 = 11.3V; 92 = 9.2V)|
142		-| 28|**T**emperature| | QT| | | ✓| degrees Celsius|
	142	+| 28|**T**emperature| | QT| | | ✓| degrees Celsius|Max temp before error: 85°C (servo goes limp)
143	143	| 29|**C**urrent| | QC| | | ✓| tenths of Amps (ex 2 = 0.2A)|
	144	+|30|**RC** Mode| | |CRC| |✓| |Puts the servo into RC mode. To revert to serial mode, use the button menu.
144	144	| | | | | | | | |
145		-| | | | | | | | |
146	146
147	147	= Details =
148	148
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232	232
233	233	Query Position in Pulse (**QP**)
234	234
235		-Example: #5QP<cr> might return *5QP
	235	+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.
	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 (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	240	__9. Position in Degrees (**D**)__
241	241
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247	247
248	248	Query Position in Degrees (**QD**)
249	249
250		-Example: #5QD<cr> might return *5QD0<cr>
	250	+Example: #5QD<cr> might return *5QD132<cr>
251	251
	252	+This means the servo is located at 13.2 degrees.
	253	+
252	252	__10. Wheel Mode in Degrees (**WD**)__
253	253
254	254	Ex: #5WD900<cr>
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379	379
380	380	Query Identification (**QID**)
381	381
382		-EX: #QID<cr> might return *QID5<cr>
	384	+EX: #254QID<cr> might return *QID5<cr>
383	383
384		-When using the query ID command, it is best to only have one servo connected and thus receive only one reply.
	386	+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.
385	385
386	386	Configure ID (**CID**)
387	387
388		-Ex: #CID5<cr>
	390	+Ex: #4CID5<cr>
389	389
390	390	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.
391	391
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509	509
510	510	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.
511	511
512		-__29. Query Current (QC)__
	514	+__29. Query Current (**QC**)__
513	513
514	514	Ex: #5QC<cr> might return *5QC140<cr>
515	515
516	516	The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
517	517
	520	+__20. RC Mode (**CRC**)__
	521	+
	522	+This command puts the servo into RC mode, 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 serial model only using the button menu.
	523	+
	524	+EX: #5CRC<cr>
	525	+
518	518	__**RESET**__
519	519
520	520	Ex: #5RESET<cr> or #5RS<cr>