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1		-lynxmotion:LSS - Overview (DEV).WebHome
	1	+Lynxmotion Smart Servo (LSS).WebHome

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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
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:
	18	+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.
	29	+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.
	31	+== 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).
	33	+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 +37,12 @@
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.
41		-
42		-Modified commands are command specific.
	45	+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.
43	43	)))
44	44
45		-(((
46		-
47		-)))
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 - Overview (DEV).LSS - RC PWM.WebHome]].
	50	+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 (see each command for details). 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
...	...	@@ -58,15 +58,11 @@
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.
	60	+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.
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.
66		-
67	67	== Query Commands ==
68	68
69		-Query commands are sent serially to the servo's Rx pin and must be set in the following format:
	64	+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:
70	70
71	71	1. Start with a number sign # (U+0023)
72	72	1. Servo ID number as an integer
...	...	@@ -78,105 +78,160 @@
78	78	)))
79	79
80	80	(((
81		-The query will return a value via the Tx pin with the following format:
	76	+The query will return a serial string (almost instantaneously) via the servo's Tx pin with the following format:
82	82
83		-1. Start with an asterisk (U+002A)
	78	+1. Start with an asterisk * (U+002A)
84	84	1. Servo ID number as an integer
85	85	1. Query command (one to three letters, no spaces, capital letters)
86	86	1. The reported value in the units described, no decimals.
87	87	1. End with a control / carriage return '<cr>'
88	88
	84	+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:
	85	+
89	89	(((
90	90	Ex: *5QD1443<cr>
91	91	)))
92	92
93		-Indicates that servo #5 is currently at 144.3 degrees.
	90	+This indicates that servo #5 is currently at 144.3 degrees (1443 tenths of degrees).
94	94
95	95	**Session vs Configuration Query**
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.
	94	+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:
98	98
99		-In order to query the value in EEPROM, add a '1' to the query command.
	96	+Ex: #5CSR20<cr> immediately sets the maximum speed for servo #5 to 20rpm (explained below) and changes the value in memory.
100	100
101		-Ex: #5CSR20<cr> sets the maximum speed for servo #5 to 20rpm upon RESET (explained below).
	98	+After RESET, a command of #5SR4<cr> sets the session's speed to 4rpm, but does not change the configuration value in memory. Therefore:
102	102
103		-After RESET: #5SR4<cr> sets the session's speed to 4rpm.
	100	+#5QSR<cr> would return *5QSR4<cr> which represents the value for that session, whereas
104	104
105		-#5QSR<cr> would return *5QSR4<cr> which represents the value for that session.
106		-
107	107	#5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
	103	+
	104	+== Virtual Angular Position ==
	105	+
	106	+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).
	107	+
	108	+[[image:LSS-servo-positions.jpg]]
	109	+
	110	+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:
	111	+
	112	+#1D-300<cr> This causes the servo to move to -30.0 degrees (green arrow)
	113	+
	114	+#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
	115	+
	116	+#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.
	117	+
	118	+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.
	119	+
	120	+#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.
	121	+
	122	+#1D3300<cr> would cause the servo to rotate from 480.0 degrees to 330.0 degrees (yellow arrow).
	123	+
	124	+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
	129	+|= #|=Description|= Action|= Query|= Config|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
	130	+| 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| L| | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	131	+| 2|[[**H**alt & **H**old>>||anchor="H2.Halt26Hold28H29"]]| H| | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	132	+| 3|[[**T**imed move>>||anchor="H3.Timedmove28T29"]]| T| | | | ✓|milliseconds|(% style="width:510px" %) Modifier only for {P, D, MD}|(% style="text-align:center; width:113px" %)
	133	+| 4|[[**S**peed>>||anchor="H4.Speed28S29"]]| S| | | | ✓|microseconds / second|(% style="width:510px" %) Modifier only {P}|(% style="text-align:center; width:113px" %)
	134	+| 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" %)
	135	+| 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" %)(((
	136	+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|Max **S**peed in **D**egrees| SD| QSD| CSD| ✓| ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|QSD: Add modifier "2" for instantaneous speed
127		-| 13|Max **S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|QSR: Add modifier "2" for instantaneous speed
128		-| 14|**A**ngular **S**tiffness| AS| QAS| CAS| ✓| ✓|none|-4 to +4, but suggested values are between 0 to +4
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=MAGENTA, 7=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)| See command description for details
141		-| 27|**V**oltage| | QV| | | ✓| tenths of volt (ex 113 = 11.3V; 92 = 9.2V)|
142		-| 28|**T**emperature| | QT| | | ✓| degrees Celsius|Max temp before error: 85°C (servo goes limp)
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.
145		-| | | | | | | | |
	138	+| 7|[[**A**ngular **R**ange>>||anchor="H7.AngularRange28AR29"]]| AR| QAR| CAR| ✓| ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
	139	+1800
	140	+)))
	141	+| 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| P| QP| | | ✓|microseconds|(% style="width:510px" %)(((
	142	+Inherited from SSC-32 serial protocol
	143	+)))|(% style="text-align:center; width:113px" %)
	144	+| 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD| | | ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	145	+| 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" %)
	146	+| 11|[[**W**heel mode in **R**PM>>||anchor="H11.WheelModeinRPM28WR29"]]| WR| QWR| | | ✓| rpm|(% style="width:510px" %)A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center; width:113px" %)
	147	+| 12|[[Max **S**peed in **D**egrees>>||anchor="H12.SpeedinDegrees28SD29"]]| SD| QSD|CSD| ✓| ✓|tenths of degrees per second |(% style="width:510px" %)(((
	148	+QSD: Add modifier "2" for instantaneous speed.
146	146
147		-= Details =
	150	+SD overwrites SR / CSD overwrites CSR and vice-versa.
	151	+)))|(% style="text-align:center; width:113px" %)Max per servo
	152	+| 13|[[Max **S**peed in **R**PM>>||anchor="H13.SpeedinRPM28SR29"]]| SR| QSR|CSR| ✓| ✓|rpm|(% style="width:510px" %)(((
	153	+QSR: Add modifier "2" for instantaneous speed
148	148
149		-__1. Limp (**L**)__
	155	+SR overwrites SD / CSR overwrites CSD and vice-versa.
	156	+)))|(% style="text-align:center; width:113px" %)Max per servo
	157	+| 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
	158	+| 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
	159	+| 18|[[**B**aud rate>>||anchor="H18.BaudRate"]]| B| QB| CB| | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)9600
	160	+| 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
	161	+| 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" %)(((
	162	+Limp
	163	+)))
	164	+| 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
	165	+| 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" %)
	166	+| 23|[[**M**odel **S**tring>>||anchor="H23.QueryModelString28QMS29"]]| | QMS| | | |none (string)|(% style="width:510px" %) Recommended to determine the model|(% style="text-align:center; width:113px" %)
	167	+| 23b|[[**M**odel>>||anchor="H23b.QueryModel28QM29"]]| | QM| | | |none (integer)|(% style="width:510px" %) Returns a raw value representing the three model inputs (36 bit)|(% style="text-align:center; width:113px" %)
	168	+| 24|[[Serial **N**umber>>||anchor="H24.QuerySerialNumber28QN29"]]| | QN| | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	169	+| 25|[[**F**irmware version>>||anchor="H25.QueryFirmware28QF29"]]| | QF| | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	170	+| 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" %)
	171	+| 27|[[**V**oltage>>||anchor="H27.QueryVoltage28QV29"]]| | QV| | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	172	+| 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" %)
	173	+| 29|[[**C**urrent>>||anchor="H29.QueryCurrent28QC29"]]| | QC| | | ✓|milliamps (ex 200 = 0.2A)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	174	+| 30|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]]| | |CRC| |✓|none|(% style="width:510px" %)(((
	175	+CRC: Add modifier "1" for RC-position mode.
	176	+CRC: Add modifier "2" for RC-wheel mode.
	177	+Any other value for the modifier results in staying in smart mode.
	178	+Puts the servo into RC mode. To revert to smart mode, use the button menu.
	179	+)))|(% style="text-align:center; width:113px" %)Serial
	180	+|31|[[**RESET**>>||anchor="H31.RESET"]]| | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %)
	181	+|32|[[**DEFAULT**>>||anchor="H32.DEFAULTA026CONFIRM"]]| | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %)
	182	+|33|[[**UPDATE**>>||anchor="H33.UPDATEA026CONFIRM"]]| | | | |✓|none|(% style="width:510px" %)Update firmware. See command for details.|(% style="text-align:center; width:113px" %)
150	150
	184	+== Advanced ==
	185	+
	186	+|= #|=Description|= Action|= Query|= Config|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
	187	+| 1|[[**A**ngular **S**tiffness>>||anchor="H14.AngularStiffness28AS29"]]| AS| QAS|CAS| ✓| ✓|none|(% style="width:510px" %)-4 to +4, but suggested values are between 0 to +4|(% style="text-align:center; width:113px" %)0
	188	+| 2|[[**A**ngular **H**olding Stiffness>>||anchor="H15.AngularHoldStiffness28AH29"]]|AH|QAH|CAH| | ✓|none|(% style="width:510px" %)-10 to +10, with default as 0. |(% style="text-align:center; width:113px" %)1
	189	+| 3|[[**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" %)
	190	+| 4|[[**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" %)
	191	+| 5|[[**E**nable **M**otion control>>||anchor="H15d:MotionControl28MC29"]]|EM|QEM| | | ✓|none|(% style="width:510px" %)EM0 to disable motion control, EM1 to enable. Session specific / does not survive power cycles|(% style="text-align:center; width:113px" %)
	192	+| 6|[[**C**onfigure **L**ED **B**linking>>||anchor="H16b.ConfigureLEDBlinking28CLB29"]]| | | CLB| ✓| |none (integer from 0 to 63)|(% style="width:510px" %)0=No blinking, ; 63=Always blink; Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;|(% style="text-align:center; width:113px" %)
	193	+| | | | | | | | |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	194	+
	195	+== Details ==
	196	+
	197	+====== __1. Limp (**L**)__ ======
	198	+
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**)__
	203	+====== __2. Halt & Hold (**H**)__ ======
156	156
157	157	Example: #5H<cr>
158	158
159	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.
160	160
161		-__3. Timed move (**T**)__
	209	+====== __3. Timed move (**T**)__ ======
162	162
163	163	Example: #5P1500T2500<cr>
164	164
165	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.
166	166
167		-__4. Speed (**S**)__
	215	+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
	217	+====== __4. Speed (**S**)__ ======
	218	+
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**)__
	223	+====== __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**)__
	229	+====== __6. Origin Offset Action (**O**)__ ======
180	180
181	181	Example: #5O2400<cr>
182	182
...	...	@@ -200,7 +200,7 @@
200	200
201	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.
202	202
203		-__7. Angular Range (**AR**)__
	253	+====== __7. Angular Range (**AR**)__ ======
204	204
205	205	Example: #5AR1800<cr>
206	206
...	...	@@ -224,7 +224,7 @@
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**)__
	277	+====== __8. Position in Pulse (**P**)__ ======
228	228
229	229	Example: #5P2334<cr>
230	230
...	...	@@ -237,7 +237,7 @@
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	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		-__9. Position in Degrees (**D**)__
	290	+====== __9. Position in Degrees (**D**)__ ======
241	241
242	242	Example: #5PD1456<cr>
243	243
...	...	@@ -251,7 +251,7 @@
251	251
252	252	This means the servo is located at 13.2 degrees.
253	253
254		-__10. Wheel Mode in Degrees (**WD**)__
	304	+====== __10. Wheel Mode in Degrees (**WD**)__ ======
255	255
256	256	Ex: #5WD900<cr>
257	257
...	...	@@ -263,7 +263,7 @@
263	263
264	264	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).
265	265
266		-__11. Wheel Mode in RPM (**WR**)__
	316	+====== __11. Wheel Mode in RPM (**WR**)__ ======
267	267
268	268	Ex: #5WR40<cr>
269	269
...	...	@@ -275,7 +275,7 @@
275	275
276	276	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).
277	277
278		-__12. Speed in Degrees (**SD**)__
	328	+====== __12. Speed in Degrees (**SD**)__ ======
279	279
280	280	Ex: #5SD1800<cr>
281	281
...	...	@@ -300,7 +300,7 @@
300	300
301	301	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.
302	302
303		-__13. Speed in RPM (**SR**)__
	353	+====== __13. Speed in RPM (**SR**)__ ======
304	304
305	305	Ex: #5SD45<cr>
306	306
...	...	@@ -325,7 +325,7 @@
325	325
326	326	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.
327	327
328		-__14. Angular Stiffness (AS)__
	378	+====== __14. Angular Stiffness (**AS**)__ ======
329	329
330	330	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.
331	331
...	...	@@ -353,12 +353,40 @@
353	353
354	354	Writes the desired angular stiffness value to memory.
355	355
356		-__15. N/A (removed)__
	406	+====== __15. Angular Hold Stiffness (**AH**)__ ======
357	357
358		-This command has been removed.
	408	+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.
359	359
360		-__16. RGB LED (**LED**)__
	410	+Ex: #5AH3<cr>
361	361
	412	+This sets the holding stiffness for servo #5 to 3 for that session.
	413	+
	414	+Query Angular Hold Stiffness (**QAH**)
	415	+
	416	+Ex: #5QAH<cr> might return *5QAH3<cr>
	417	+
	418	+This returns the servo's angular holding stiffness value.
	419	+
	420	+Configure Angular Hold Stiffness (**CAH**)
	421	+
	422	+Ex: #5CAH2<cr>
	423	+
	424	+This writes the angular holding stiffness of servo #5 to 2 to EEPROM
	425	+
	426	+====== __15b: Angular Acceleration (**AA**)__ ======
	427	+
	428	+{More details to come}
	429	+
	430	+====== __15c: Angular Deceleration (**AD**)__ ======
	431	+
	432	+{More details to come}
	433	+
	434	+====== __15d: Motion Control (**EM**)__ ======
	435	+
	436	+{More details to come}
	437	+
	438	+====== __16. RGB LED (**LED**)__ ======
	439	+
362	362	Ex: #5LED3<cr>
363	363
364	364	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.
...	...	@@ -375,8 +375,22 @@
375	375
376	376	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.
377	377
378		-__17. Identification Number__
	456	+====== __16b. Configure LED Blinking (**CLB**)__ ======
379	379
	458	+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).
	459	+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;
	460	+
	461	+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:
	462	+
	463	+Ex: #5CLB0<cr> to turn off all blinking (LED always solid)
	464	+Ex: #5CLB1<cr> only blink when limp
	465	+Ex: #5CLB2<cr> only blink when holding
	466	+Ex: #5CLB12<cr> only blink when accel or decel
	467	+Ex: #5CLB48<cr> only blink when free or travel
	468	+Ex: #5CLB63<cr> blink in all status
	469	+
	470	+====== __17. Identification Number__ ======
	471	+
380	380	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.
381	381
382	382	Query Identification (**QID**)
...	...	@@ -391,7 +391,7 @@
391	391
392	392	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.
393	393
394		-__18. Baud Rate__
	486	+====== __18. Baud Rate__ ======
395	395
396	396	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.
397	397	\*: 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.
...	...	@@ -404,11 +404,13 @@
404	404
405	405	Configure Baud Rate (**CB**)
406	406
	499	+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.
	500	+
407	407	Ex: #5CB9600<cr>
408	408
409	409	Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
410	410
411		-__19. Gyre Rotation Direction__
	505	+====== __19. Gyre Rotation Direction__ ======
412	412
413	413	"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).
414	414
...	...	@@ -426,9 +426,9 @@
426	426
427	427	This changes the gyre direction as described above and also writes to EEPROM.
428	428
429		-__20. First / Initial Position (pulse)__
	523	+====== __20. First / Initial Position (pulse)__ ======
430	430
431		-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.
	525	+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.
432	432
433	433	Query First Position in Pulses (**QFP**)
434	434
...	...	@@ -442,9 +442,9 @@
442	442
443	443	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).
444	444
445		-__21. First / Initial Position (Degrees)__
	539	+====== __21. First / Initial Position (Degrees)__ ======
446	446
447		-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.
	541	+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.
448	448
449	449	Query First Position in Degrees (**QFD**)
450	450
...	...	@@ -456,33 +456,39 @@
456	456
457	457	Ex: #5CD64<cr>
458	458
459		-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.
	553	+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.
460	460
461		-__22. Query Target Position in Degrees (**QDT**)__
	555	+====== __22. Query Target Position in Degrees (**QDT**)__ ======
462	462
463	463	Ex: #5QDT<cr> might return *5QDT6783<cr>
464	464
465	465	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>).
466	466
467		-__23. Query Model (**QM**)__
	561	+====== __23. Query Model String (**QMS**)__ ======
468	468
469		-Ex: #5QM<cr> might return *5QM11<cr>
	563	+Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
470	470
471		-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)
	565	+This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
472	472
473		-__24. Query Serial Number (**QN**)__
	567	+====== __23b. Query Model (**QM**)__ ======
474	474
	569	+Ex: #5QM<cr> might return *5QM68702699520cr>
	570	+
	571	+This reply means the servo model is 0xFFF000000 or 100, meaning a high speed servo, first revision.
	572	+
	573	+====== __24. Query Serial Number (**QN**)__ ======
	574	+
475	475	Ex: #5QN<cr> might return *5QN~_~_<cr>
476	476
477	477	The number in the response is the servo's serial number which is set and cannot be changed.
478	478
479		-__25. Query Firmware (**QF**)__
	579	+====== __25. Query Firmware (**QF**)__ ======
480	480
481	481	Ex: #5QF<cr> might return *5QF11<cr>
482	482
483	483	The integer in the reply represents the firmware version with one decimal, in this example being 1.1
484	484
485		-__26. Query Status (**Q**)__
	585	+====== __26. Query Status (**Q**)__ ======
486	486
487	487	Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
488	488
...	...	@@ -492,44 +492,50 @@
492	492	|ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
493	493	|ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
494	494	|ex: *5Q4<cr>|Traveling|Moving at a stable speed
495		-|ex: *5Q5<cr>|Deccelerating|Decreasing speed towards travel speed towards rest
	595	+|ex: *5Q5<cr>|Decelerating|Decreasing from travel speed towards final position.
496	496	|ex: *5Q6<cr>|Holding|Keeping current position
497	497	|ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque
498		-|ex: *5Q8<cr>|Outside limits|More details coming soon
	598	+|ex: *5Q8<cr>|Outside limits|{More details coming soon}
499	499	|ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting
500		-|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maxiumum duty and still cannot move (i.e.: stalled)
	600	+|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
501	501
502		-__27. Query Voltage (**QV**)__
	602	+====== __27. Query Voltage (**QV**)__ ======
503	503
504		-Ex: #5QV<cr> might return *5QV112<cr>
	604	+Ex: #5QV<cr> might return *5QV11200<cr>
505	505
506	506	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).
507	507
508		-__28. Query Temperature (**QT**)__
	608	+====== __28. Query Temperature (**QT**)__ ======
509	509
510	510	Ex: #5QT<cr> might return *5QT564<cr>
511	511
512	512	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.
513	513
514		-__29. Query Current (**QC**)__
	614	+====== __29. Query Current (**QC**)__ ======
515	515
516	516	Ex: #5QC<cr> might return *5QC140<cr>
517	517
518	518	The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
519	519
520		-__20. RC Mode (**CRC**)__
	620	+====== __30. RC Mode (**CRC**)__ ======
521	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.
	622	+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.
523	523
	624	+|**Command sent**|**Note**
	625	+|ex: #5CRC<cr>|Stay in smart mode.
	626	+|ex: #5CRC1<cr>|Change to RC position mode.
	627	+|ex: #5CRC2<cr>|Change to RC continuous (wheel) mode.
	628	+|ex: #5CRC*<cr>|Where * is any number or value. Stay in smart mode.
	629	+
524	524	EX: #5CRC<cr>
525	525
526		-__**RESET**__
	632	+====== __31. RESET__ ======
527	527
528	528	Ex: #5RESET<cr> or #5RS<cr>
529	529
530	530	This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
531	531
532		-**__DEFAULT __**__& **CONFIRM**__
	638	+====== __32. DEFAULT & CONFIRM__ ======
533	533
534	534	Ex: #5DEFAULT<cr>
535	535
...	...	@@ -541,7 +541,7 @@
541	541
542	542	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
543	543
544		-**__UPDATE __**__& **CONFIRM**__
	650	+====== __33. UPDATE & CONFIRM__ ======
545	545
546	546	Ex: #5UPDATE<cr>
547	547
...	...	@@ -552,23 +552,3 @@
552	552	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.
553	553
554	554	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
555		-
556		-=== Virtual Angular Position ===
557		-
558		-{In progress}
559		-
560		-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.
561		-
562		-[[image:LSS-servo-positions.jpg]]
563		-
564		-Example: Gyre direction / rotation is positive (clockwise), and origin offset has not been modified.
565		-
566		-#1D-300<cr> The servo is commander to move to -30.0 degrees (green arrow)
567		-
568		-#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
569		-
570		-#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.
571		-
572		-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.
573		-
574		-#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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