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1		-lynxmotion:LSS - Overview (DEV).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)
...	...	@@ -37,32 +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		-Action modifiers can only be used with certain commands.
	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.
43	43	)))
44	44
45		-== Configuration Commands ==
46		-
47		-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]].
48		-
49		-1. Start with a number sign # (U+0023)
50		-1. Servo ID number as an integer
51		-1. Configuration command (two to three letters, no spaces, capital or lower case)
52		-1. Configuration value in the correct units with no decimal
53		-1. End with a control / carriage return '<cr>'
54		-
55		-Ex: #5CO-50<cr>
56		-
57		-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.
58		-
59		-Configuration commands are not cumulative, in that if two configurations are sent at any time, only the last configuration is used and stored.
60		-
61		-*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.
62		-
63	63	== Query Commands ==
64	64
65		-Query commands are sent serially to the servo's Rx pin and must be set in the following format:
	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:
66	66
67	67	1. Start with a number sign # (U+0023)
68	68	1. Servo ID number as an integer
...	...	@@ -74,49 +74,61 @@
74	74	)))
75	75
76	76	(((
77		-The query will return a value via the Tx pin with the following format:
	64	+The query will return a serial string (almost instantaneously) via the servo's Tx pin with the following format:
78	78
79		-1. Start with an asterisk (U+002A)
	66	+1. Start with an asterisk * (U+002A)
80	80	1. Servo ID number as an integer
81	81	1. Query command (one to three letters, no spaces, capital letters)
82	82	1. The reported value in the units described, no decimals.
83	83	1. End with a control / carriage return '<cr>'
84	84
	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	+
85	85	(((
86	86	Ex: *5QD1443<cr>
87	87	)))
88	88
89		-Indicates that servo #5 is currently at 144.3 degrees.
	78	+This indicates that servo #5 is currently at 144.3 degrees (1443 tenths of degrees).
90	90
91		-**Session vs Configuration Query**
	80	+== Configuration Commands ==
92	92
93		-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.
	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:
94	94
95		-In order to query the value in EEPROM, add a '1' to the query command.
	84	+1. Start with a number sign # (U+0023)
	85	+1. Servo ID number as an integer
	86	+1. Configuration command (two to three letters, no spaces, capital or lower case)
	87	+1. Configuration value in the correct units with no decimal
	88	+1. End with a control / carriage return '<cr>'
96	96
97		-Ex: #5CSR20<cr> sets the maximum speed for servo #5 to 20rpm upon RESET (explained below).
	90	+Ex: #5CO-50<cr>
98	98
99		-After RESET: #5SR4<cr> sets the session's speed to 4rpm.
	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.
100	100
101		-#5QSR<cr> would return *5QSR4<cr> which represents the value for that session.
	94	+**Session vs Configuration Query**
102	102
103		-#5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
	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:
104	104
105		-=== Virtual Angular Position ===
	98	+Ex: #5CSR20<cr> immediately sets the maximum speed for servo #5 to 20rpm (explained below) and changes the value in memory.
106	106
107		-{In progress}
	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:
108	108
109		-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.
	102	+#5QSR<cr> would return *5QSR4<cr> which represents the value for that session, whereas
110	110
	104	+#5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
	105	+
	106	+== Virtual Angular Position ==
	107	+
	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).
	109	+
111	111	[[image:LSS-servo-positions.jpg]]
112	112
113		-Example: Gyre direction / rotation is positive (clockwise), and origin offset has not been modified. Each square represents 30 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:
114	114
115		-#1D-300<cr> The servo is sent a command to move to -30.0 degrees (green arrow)
	114	+#1D-300<cr> This causes the servo to move to -30.0 degrees (green arrow)
116	116
117	117	#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
118	118
119		-#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,  stopping at an absolute position of 60.0 degrees (420.0-360.0), with a virtual position of -420.0 degrees.
	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.
120	120
121	121	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.
122	122
...	...	@@ -129,93 +129,115 @@
129	129
130	130	= Command List =
131	131
132		-|= #|=Description|= Action|= Query|= Config|= RC|= Serial|= Units|= Notes
133		-| 1|**L**imp| L| | | | ✓| none|
134		-| 2|**H**alt & Hold| H| | | | ✓| none|
135		-| 3|**T**imed move| T| | | | ✓| milliseconds| Modifier only
136		-| 4|**S**peed| S| | | | ✓| microseconds / second| Modifier only
137		-| 5|**M**ove in **D**egrees (relative)| MD| | | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
138		-| 6|**O**rigin Offset| O| QO| CO| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
139		-| 7|**A**ngular **R**ange| AR| QAR| CAR| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
140		-| 8|Position in **P**ulse| P| QP| | | ✓| microseconds|(((
141		-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
142	142	)))
143		-| 9|Position in **D**egrees| D| QD| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
144		-| 10|**W**heel mode in **D**egrees| WD| QWD| | | ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|
145		-| 11|**W**heel mode in **R**PM| WR| QWR| | | ✓| rpm|
146		-| 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
147		-| 13|Max **S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|QSR: Add modifier "2" for instantaneous speed
148		-| 14|**A**ngular **S**tiffness| AS| QAS| CAS| ✓| ✓|none|-4 to +4, but suggested values are between 0 to +4
149		-| 15|**A**ngular **H**olding Stiffness|AH|QAH|CAH| | ✓|none|-10 to +10, with default as 0.
150		-|15b|**A**ngular **A**cceleration|AA|QAA|CAA| | ✓|degrees per second squared|Increments of 10 degrees per second squared
151		-|15c|**A**ngular **D**eceleration|AD|QAD|CAD| | ✓|degrees per second squared|Increments of 10 degrees per second squared
152		-|15d|**M**otion **C**ontrol|MC|QMC| | | ✓|none|MC0 to disable motion control, MC1 to enable. Session specific
153		-| 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
154		-| 17|**ID** #| | QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to
155		-| 18|**B**aud rate| B| QB| CB| | ✓| none (integer)|
156		-| 19|**G**yre direction (**G**)| G| QG| CG| ✓| ✓| none | Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise)
157		-| 20|**F**irst Position (**P**ulse)| | QFP|CFP | ✓| ✓| none |
158		-| 21|**F**irst Position (**D**egrees)| | QFD|CFD| ✓| ✓| none |
159		-| 22|**T**arget (**D**egree) **P**osition| | QDT| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
160		-| 23|**M**odel **String**| | QMS| | | | none (string)| Recommended to determine the model|
161		-| 23b|**M**odel| | QM| | | | none (integer)| Returns a raw value representing the three model inputs (36 bit)|
162		-| 24|Serial **N**umber| | QN| | | | none (integer)|
163		-| 25|**F**irmware version| | QF| | | | none (integer)|
164		-| 26|**Q**uery (general status)| | Q| | | ✓| none (integer from 1 to 8)| See command description for details
165		-| 27|**V**oltage| | QV| | | ✓| millivolts (ex 5936 = 5936mV = 5.936V)|
166		-| 28|**T**emperature| | QT| | | ✓| tenths of degrees Celsius|Max temp before error: 85°C (servo goes limp)
167		-| 29|**C**urrent| | QC| | | ✓| milliamps (ex 200 = 0.2A)|
168		-| 30|**RC** Mode| | |CRC| |✓|none|(((
169		-CRC: Add modifier "1" for RC-position mode.
170		-CRC: Add modifier "2" for RC-wheel mode.
171		-Any other value for the modifier results in staying in smart mode.
172		-Puts the servo into RC mode. To revert to smart mode, use the button menu.
	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
173	173	)))
174		-|31|**RESET**| | | | | ✓|none|Soft reset. See command for details.
175		-|32|**DEFAULT**| | | | |✓|none|Revert to firmware default values. See command for details
176		-|33|**UPDATE**| | | | |✓|none|Update firmware. See command for details.
	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.
177	177
178		-= 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
179	179
180		-__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" %)
181	181
	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	+
182	182	Example: #5L<cr>
183	183
184	184	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>.
185	185
186		-__2. Halt & Hold (**H**)__
	205	+====== __2. Halt & Hold (**H**)__ ======
187	187
188	188	Example: #5H<cr>
189	189
190		-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.
191	191
192		-__3. Timed move (**T**)__
	211	+====== __3. Timed move (**T**)__ ======
193	193
194	194	Example: #5P1500T2500<cr>
195	195
196		-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.
197	197
198		-__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.
199	199
	219	+====== __4. Speed (**S**)__ ======
	220	+
200	200	Example: #5P1500S750<cr>
201	201
202	202	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.
203	203
204		-__5. (Relative) Move in Degrees (**MD**)__
	225	+====== __5. (Relative) Move in Degrees (**MD**)__ ======
205	205
206	206	Example: #5MD123<cr>
207	207
208	208	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.
209	209
210		-__6. Origin Offset Action (**O**)__
	231	+====== __6. Origin Offset Action (**O**)__ ======
211	211
212	212	Example: #5O2400<cr>
213	213
214		-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).
215	215
216	216	[[image:LSS-servo-default.jpg]]
217	217
218		-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:
219	219
220	220	[[image:LSS-servo-origin.jpg]]
221	221
...	...	@@ -223,39 +223,39 @@
223	223
224	224	Example: #5QO<cr> Returns: *5QO-13
225	225
226		-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.
227	227
228	228	Configure Origin Offset (**CO**)
229	229
230	230	Example: #5CO-24<cr>
231	231
232		-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.
233	233
234		-__7. Angular Range (**AR**)__
	255	+====== __7. Angular Range (**AR**)__ ======
235	235
236	236	Example: #5AR1800<cr>
237	237
238		-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:
239	239
240	240	[[image:LSS-servo-default.jpg]]
241	241
242		-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.
243	243
244	244	[[image:LSS-servo-ar.jpg]]
245	245
246		-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:
247	247
248	248	[[image:LSS-servo-ar-o-1.jpg]]
249	249
250	250	Query Angular Range (**QAR**)
251	251
252		-Example: #5QAR<cr> might return *5AR2756
	273	+Example: #5QAR<cr> might return *5AR1800, indicating the total angular range is 180.0 degrees.
253	253
254	254	Configure Angular Range (**CAR**)
255	255
256	256	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.
257	257
258		-__8. Position in Pulse (**P**)__
	279	+====== __8. Position in Pulse (**P**)__ ======
259	259
260	260	Example: #5P2334<cr>
261	261
...	...	@@ -268,7 +268,7 @@
268	268	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.
269	269	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).
270	270
271		-__9. Position in Degrees (**D**)__
	292	+====== __9. Position in Degrees (**D**)__ ======
272	272
273	273	Example: #5PD1456<cr>
274	274
...	...	@@ -282,7 +282,7 @@
282	282
283	283	This means the servo is located at 13.2 degrees.
284	284
285		-__10. Wheel Mode in Degrees (**WD**)__
	306	+====== __10. Wheel Mode in Degrees (**WD**)__ ======
286	286
287	287	Ex: #5WD900<cr>
288	288
...	...	@@ -294,7 +294,7 @@
294	294
295	295	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).
296	296
297		-__11. Wheel Mode in RPM (**WR**)__
	318	+====== __11. Wheel Mode in RPM (**WR**)__ ======
298	298
299	299	Ex: #5WR40<cr>
300	300
...	...	@@ -306,7 +306,7 @@
306	306
307	307	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).
308	308
309		-__12. Speed in Degrees (**SD**)__
	330	+====== __12. Speed in Degrees (**SD**)__ ======
310	310
311	311	Ex: #5SD1800<cr>
312	312
...	...	@@ -331,7 +331,7 @@
331	331
332	332	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.
333	333
334		-__13. Speed in RPM (**SR**)__
	355	+====== __13. Speed in RPM (**SR**)__ ======
335	335
336	336	Ex: #5SD45<cr>
337	337
...	...	@@ -356,7 +356,7 @@
356	356
357	357	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.
358	358
359		-__14. Angular Stiffness (**AS**)__
	380	+====== __14. Angular Stiffness (**AS**)__ ======
360	360
361	361	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.
362	362
...	...	@@ -384,7 +384,7 @@
384	384
385	385	Writes the desired angular stiffness value to memory.
386	386
387		-__15. Angular Hold Stiffness (**AH**)__
	408	+====== __15. Angular Hold Stiffness (**AH**)__ ======
388	388
389	389	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.
390	390
...	...	@@ -404,19 +404,19 @@
404	404
405	405	This writes the angular holding stiffness of servo #5 to 2 to EEPROM
406	406
407		-__15b: Angular Acceleration (**AA**)__
	428	+====== __15b: Angular Acceleration (**AA**)__ ======
408	408
409	409	{More details to come}
410	410
411		-__15c: Angular Deceleration (**AD**)__
	432	+====== __15c: Angular Deceleration (**AD**)__ ======
412	412
413	413	{More details to come}
414	414
415		-__15d: Motion Control (**MC**)__
	436	+====== __15d: Motion Control (**EM**)__ ======
416	416
417	417	{More details to come}
418	418
419		-__16. RGB LED (**LED**)__
	440	+====== __16. RGB LED (**LED**)__ ======
420	420
421	421	Ex: #5LED3<cr>
422	422
...	...	@@ -434,8 +434,22 @@
434	434
435	435	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.
436	436
437		-__17. Identification Number__
	458	+====== __16b. Configure LED Blinking (**CLB**)__ ======
438	438
	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	+
439	439	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.
440	440
441	441	Query Identification (**QID**)
...	...	@@ -450,7 +450,7 @@
450	450
451	451	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.
452	452
453		-__18. Baud Rate__
	488	+====== __18. Baud Rate__ ======
454	454
455	455	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.
456	456	\*: 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.
...	...	@@ -463,11 +463,13 @@
463	463
464	464	Configure Baud Rate (**CB**)
465	465
	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	+
466	466	Ex: #5CB9600<cr>
467	467
468	468	Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
469	469
470		-__19. Gyre Rotation Direction__
	507	+====== __19. Gyre Rotation Direction__ ======
471	471
472	472	"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).
473	473
...	...	@@ -485,7 +485,7 @@
485	485
486	486	This changes the gyre direction as described above and also writes to EEPROM.
487	487
488		-__20. First / Initial Position (pulse)__
	525	+====== __20. First / Initial Position (pulse)__ ======
489	489
490	490	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.
491	491
...	...	@@ -501,7 +501,7 @@
501	501
502	502	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).
503	503
504		-__21. First / Initial Position (Degrees)__
	541	+====== __21. First / Initial Position (Degrees)__ ======
505	505
506	506	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.
507	507
...	...	@@ -517,37 +517,37 @@
517	517
518	518	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.
519	519
520		-__22. Query Target Position in Degrees (**QDT**)__
	557	+====== __22. Query Target Position in Degrees (**QDT**)__ ======
521	521
522	522	Ex: #5QDT<cr> might return *5QDT6783<cr>
523	523
524	524	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>).
525	525
526		-__23. Query Model String (**QMS**)__
	563	+====== __23. Query Model String (**QMS**)__ ======
527	527
528	528	Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
529	529
530	530	This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
531	531
532		-__23b. Query Model (**QM**)__
	569	+====== __23b. Query Model (**QM**)__ ======
533	533
534	534	Ex: #5QM<cr> might return *5QM68702699520cr>
535	535
536	536	This reply means the servo model is 0xFFF000000 or 100, meaning a high speed servo, first revision.
537	537
538		-__24. Query Serial Number (**QN**)__
	575	+====== __24. Query Serial Number (**QN**)__ ======
539	539
540	540	Ex: #5QN<cr> might return *5QN~_~_<cr>
541	541
542	542	The number in the response is the servo's serial number which is set and cannot be changed.
543	543
544		-__25. Query Firmware (**QF**)__
	581	+====== __25. Query Firmware (**QF**)__ ======
545	545
546	546	Ex: #5QF<cr> might return *5QF11<cr>
547	547
548	548	The integer in the reply represents the firmware version with one decimal, in this example being 1.1
549	549
550		-__26. Query Status (**Q**)__
	587	+====== __26. Query Status (**Q**)__ ======
551	551
552	552	Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
553	553
...	...	@@ -557,32 +557,32 @@
557	557	|ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
558	558	|ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
559	559	|ex: *5Q4<cr>|Traveling|Moving at a stable speed
560		-|ex: *5Q5<cr>|Deccelerating|Decreasing speed towards travel speed towards rest
	597	+|ex: *5Q5<cr>|Decelerating|Decreasing from travel speed towards final position.
561	561	|ex: *5Q6<cr>|Holding|Keeping current position
562	562	|ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque
563		-|ex: *5Q8<cr>|Outside limits|More details coming soon
	600	+|ex: *5Q8<cr>|Outside limits|{More details coming soon}
564	564	|ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting
565		-|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maxiumum duty and still cannot move (i.e.: stalled)
	602	+|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
566	566
567		-__27. Query Voltage (**QV**)__
	604	+====== __27. Query Voltage (**QV**)__ ======
568	568
569	569	Ex: #5QV<cr> might return *5QV11200<cr>
570	570
571	571	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).
572	572
573		-__28. Query Temperature (**QT**)__
	610	+====== __28. Query Temperature (**QT**)__ ======
574	574
575	575	Ex: #5QT<cr> might return *5QT564<cr>
576	576
577	577	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.
578	578
579		-__29. Query Current (**QC**)__
	616	+====== __29. Query Current (**QC**)__ ======
580	580
581	581	Ex: #5QC<cr> might return *5QC140<cr>
582	582
583	583	The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
584	584
585		-__30. RC Mode (**CRC**)__
	622	+====== __30. RC Mode (**CRC**)__ ======
586	586
587	587	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.
588	588
...	...	@@ -594,13 +594,13 @@
594	594
595	595	EX: #5CRC<cr>
596	596
597		-__31. RESET__
	634	+====== __31. RESET__ ======
598	598
599	599	Ex: #5RESET<cr> or #5RS<cr>
600	600
601	601	This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
602	602
603		-__32. DEFAULT & CONFIRM__
	640	+====== __32. DEFAULT & CONFIRM__ ======
604	604
605	605	Ex: #5DEFAULT<cr>
606	606
...	...	@@ -612,7 +612,7 @@
612	612
613	613	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
614	614
615		-__33. UPDATE & CONFIRM__
	652	+====== __33. UPDATE & CONFIRM__ ======
616	616
617	617	Ex: #5UPDATE<cr>
618	618
...	...	@@ -623,5 +623,3 @@
623	623	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.
624	624
625	625	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
626		-
627		-=== ===

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