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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

Content

...	...	@@ -1,9 +1,14 @@
	1	+(% class="wikigeneratedid" id="HTableofContents" %)
	2	+**Table of Contents**
	3	+
1	1	{{toc depth="3"/}}
2	2
3		-= Protocol concepts =
	6	+= Serial Protocol Concept =
4	4
5		-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.
	8	+The Lynxmotion Smart Servo (LSS) serial protocol was created in order to be as simple and straightforward as possible from a user perspective ("human readable"), while at the same time trying to be 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.
6	6
	10	+In serial mode, in order to have servos react differently when commands are sent to all servos in a 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 take action. There is currently no CRC / checksum implemented as part of the protocol.
	11	+
7	7	== Session ==
8	8
9	9	A "session" is defined as the time between when the servo is powered ON to when it is powered OFF or reset.
...	...	@@ -10,7 +10,7 @@
10	10
11	11	== Action Commands ==
12	12
13		-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 type 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 (as described at the bottom of this page). Action commands are sent serially to the servo's Rx pin and must be set in the following format:
14	14
15	15	1. Start with a number sign # (U+0023)
16	16	1. Servo ID number as an integer
...	...	@@ -21,16 +21,12 @@
21	21	(((
22	22	Ex: #5PD1443<cr>
23	23
24		-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 of 144.3 degrees. Any servo in the bus which does not have ID 5 will take no action when they receive this command.
25	25
26		-Action commands cannot be combined with query commands, and only one action command can be sent at a time.
	31	+== Action Modifiers ==
27	27
28		-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). Action modifiers can only be used with certain action commands. The format to include a modifier is:
29	29
30		-=== Action Modifiers ===
31		-
32		-Two commands can be used as action modifiers only: Timed Move and Speed. The format is:
33		-
34	34	1. Start with a number sign # (U+0023)
35	35	1. Servo ID number as an integer
36	36	1. Action command (one to three letters, no spaces, capital or lower case)
...	...	@@ -41,14 +41,12 @@
41	41
42	42	Ex: #5P1456T1263<cr>
43	43
44		-Results in the servo rotating from the current angular position to a pulse position of 1456 in 1263 milliseconds.
45		-
46		-Action modifiers can only be used with certain commands.
	45	+This results in the servo with ID #5 rotating from the current angular position to a pulse position of 1456 in 1263 milliseconds. Position in pulses is described below.
47	47	)))
48	48
49	49	== Configuration Commands ==
50	50
51		-Configuration commands affect the servo's current session* but unlike action commands, configuration commands are written to EEPROM and are retained even if the servo loses power (therefore NOT session specific). Not all action commands have a corresponding configuration and vice versa. Certain configurations are retained for when the servo is used in RC model. More information can be found on the [[LSS - RC PWM page>>doc:LSS - Overview (DEV).LSS - RC PWM.WebHome]].
	50	+Configuration commands affect a servo's default values which are written to the servo's EEPROM and are retained in memory after the servo loses power or is reset. 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 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 assigns an absolute origin offset of -5.0 degrees (with respect to factory origin) to servo with ID #5 and changes the offset for that session to -5.0 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. 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. This 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
...	...	@@ -78,27 +78,29 @@
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.
	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 reply to the query above 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 from the last configuration command.
98	98
99		-In order to query the value in EEPROM, add a '1' to the query command.
	96	+In order to query the value in EEPROM (configuration), add a '1' to the query command.
100	100
101		-Ex: #5CSR20<cr> sets the maximum speed for servo #5 to 20rpm upon RESET (explained below).
	98	+Ex: #5CSR20<cr> immediately sets the maximum speed for servo #5 to 20rpm (explained below) .
102	102
103	103	After RESET: #5SR4<cr> sets the session's speed to 4rpm.
104	104
...	...	@@ -106,21 +106,19 @@
106	106
107	107	#5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
108	108
109		-=== Virtual Angular Position ===
	106	+== Virtual Angular Position ==
110	110
111		-{In progress}
	108	+A "virtual 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 360.0 degrees, 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).
112	112
113		-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.
114		-
115	115	[[image:LSS-servo-positions.jpg]]
116	116
117		-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:
118	118
119		-#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)
120	120
121	121	#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
122	122
123		-#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,  stopping at an absolute position of 60.0 degrees (420.0 - 360.0), with a virtual position of -420.0 degrees.
124	124
125	125	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.
126	126
...	...	@@ -133,85 +133,100 @@
133	133
134	134	= Command List =
135	135
136		-|= #|=Description|= Action|= Query|= Config|= RC|= Serial|= Units|= Notes
137		-| 1|**L**imp| L| | | | ✓| none|
138		-| 2|**H**alt & Hold| H| | | | ✓| none|
139		-| 3|**T**imed move| T| | | | ✓| milliseconds| Modifier only
140		-| 4|**S**peed| S| | | | ✓| microseconds / second| Modifier only
141		-| 5|**M**ove in **D**egrees (relative)| MD| | | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
142		-| 6|**O**rigin Offset| O| QO| CO| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
143		-| 7|**A**ngular **R**ange| AR| QAR| CAR| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
144		-| 8|Position in **P**ulse| P| QP| | | ✓| microseconds|(((
145		-See details below
	131	+|= #|=Description|= Action|= Query|= Config|= 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 / 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; 91 = 9.1 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 325 = 32.5 degrees; 91 = 9.1 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
	138	+0
146	146	)))
147		-| 9|Position in **D**egrees| D| QD| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
148		-| 10|**W**heel mode in **D**egrees| WD| QWD| | | ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|
149		-| 11|**W**heel mode in **R**PM| WR| QWR| | | ✓| rpm|
150		-| 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
151		-| 13|Max **S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|QSR: Add modifier "2" for instantaneous speed
152		-| 14|**A**ngular **S**tiffness| AS| QAS| CAS| ✓| ✓|none|-4 to +4, but suggested values are between 0 to +4
153		-| 15|**A**ngular **H**olding Stiffness|AH|QAH|CAH| | ✓|none|-10 to +10, with default as 0.
154		-|15b|**A**ngular **A**cceleration|AA|QAA|CAA| | ✓|degrees per second squared|Increments of 10 degrees per second squared
155		-|15c|**A**ngular **D**eceleration|AD|QAD|CAD| | ✓|degrees per second squared|Increments of 10 degrees per second squared
156		-|15d|**M**otion **C**ontrol|MC|QMC| | | ✓|none|MC0 to disable motion control, MC1 to enable. Session specific
157		-| 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
158		-| 17|**ID** #| | QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to
159		-| 18|**B**aud rate| B| QB| CB| | ✓| none (integer)|
160		-| 19|**G**yre direction (**G**)| G| QG| CG| ✓| ✓| none | Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise)
161		-| 20|**F**irst Position (**P**ulse)| | QFP|CFP | ✓| ✓| none |
162		-| 21|**F**irst Position (**D**egrees)| | QFD|CFD| ✓| ✓| none |
163		-| 22|**T**arget (**D**egree) **P**osition| | QDT| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
164		-| 23|**M**odel **String**| | QMS| | | | none (string)| Recommended to determine the model|
165		-| 23b|**M**odel| | QM| | | | none (integer)| Returns a raw value representing the three model inputs (36 bit)|
166		-| 24|Serial **N**umber| | QN| | | | none (integer)|
167		-| 25|**F**irmware version| | QF| | | | none (integer)|
168		-| 26|**Q**uery (general status)| | Q| | | ✓| none (integer from 1 to 8)| See command description for details
169		-| 27|**V**oltage| | QV| | | ✓| millivolts (ex 5936 = 5936mV = 5.936V)|
170		-| 28|**T**emperature| | QT| | | ✓| tenths of degrees Celsius|Max temp before error: 85°C (servo goes limp)
171		-| 29|**C**urrent| | QC| | | ✓| milliamps (ex 200 = 0.2A)|
172		-| 30|**RC** Mode| | |CRC| |✓|none|(((
	140	+| 7|[[**A**ngular **R**ange>>||anchor="H7.AngularRange28AR29"]]| AR| QAR| CAR| ✓| ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
	141	+1800
	142	+)))
	143	+| 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| P| QP| | | ✓|microseconds|(% style="width:510px" %)(((
	144	+Inherited from SSC-32 serial protocol
	145	+)))|(% style="text-align:center; width:113px" %)
	146	+| 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD| | | ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 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| | | ✓| 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 (ex 248 = 24.8 degrees per second)|(% style="width:510px" %)QSD: Add modifier "2" for instantaneous speed|(% style="text-align:center; width:113px" %)Max per servo
	150	+| 13|[[Max **S**peed in **R**PM>>||anchor="H13.SpeedinRPM28SR29"]]| SR| QSR|CSR| ✓| ✓|rpm|(% style="width:510px" %)QSR: Add modifier "2" for instantaneous speed|(% style="text-align:center; width:113px" %)Max per servo
	151	+| 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
	152	+| 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
	153	+| 18|[[**B**aud rate>>||anchor="H18.BaudRate"]]| B| QB| CB| | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)9600
	154	+| 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 CW
	155	+| 20|[[**F**irst Position (**P**ulse)>>||anchor="H20.First2InitialPosition28pulse29"]]| | QFP|CFP | ✓| ✓|none |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
	156	+Limp
	157	+)))
	158	+| 21|[[**F**irst Position (**D**egrees)>>||anchor="H21.First2InitialPosition28Degrees29"]]| | QFD|CFD| ✓| ✓|none |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)Limp
	159	+| 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" %)
	160	+| 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" %)
	161	+| 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" %)
	162	+| 24|[[Serial **N**umber>>||anchor="H24.QuerySerialNumber28QN29"]]| | QN| | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	163	+| 25|[[**F**irmware version>>||anchor="H25.QueryFirmware28QF29"]]| | QF| | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	164	+| 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" %)
	165	+| 27|[[**V**oltage>>||anchor="H27.QueryVoltage28QV29"]]| | QV| | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	166	+| 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" %)
	167	+| 29|[[**C**urrent>>||anchor="H29.QueryCurrent28QC29"]]| | QC| | | ✓|milliamps (ex 200 = 0.2A)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	168	+| 30|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]]| | |CRC| |✓|none|(% style="width:510px" %)(((
173	173	CRC: Add modifier "1" for RC-position mode.
174	174	CRC: Add modifier "2" for RC-wheel mode.
175	175	Any other value for the modifier results in staying in smart mode.
176	176	Puts the servo into RC mode. To revert to smart mode, use the button menu.
177		-)))
178		-|31|**RESET**| | | | | ✓|none|Soft reset. See command for details.
179		-|32|**DEFAULT**| | | | |✓|none|Revert to firmware default values. See command for details
180		-|33|**UPDATE**| | | | |✓|none|Update firmware. See command for details.
	173	+)))|(% style="text-align:center; width:113px" %)Serial
	174	+|31|[[**RESET**>>||anchor="H31.RESET"]]| | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %)
	175	+|32|[[**DEFAULT**>>||anchor="H32.DEFAULTA026CONFIRM"]]| | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %)
	176	+|33|[[**UPDATE**>>||anchor="H33.UPDATEA026CONFIRM"]]| | | | |✓|none|(% style="width:510px" %)Update firmware. See command for details.|(% style="text-align:center; width:113px" %)
181	181
	178	+(% class="wikigeneratedid" %)
	179	+== Advanced ==
	180	+
	181	+|= #|=Description|= Action|= Query|= Config|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
	182	+| 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
	183	+| 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
	184	+| 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" %)
	185	+| 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" %)
	186	+| 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" %)
	187	+| 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" %)
	188	+| | | | | | | | |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	189	+
182	182	== Details ==
183	183
184		-===== __1. Limp (**L**)__ =====
	192	+====== __1. Limp (**L**)__ ======
185	185
186	186	Example: #5L<cr>
187	187
188	188	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>.
189	189
190		-__2. Halt & Hold (**H**)__
	198	+====== __2. Halt & Hold (**H**)__ ======
191	191
192	192	Example: #5H<cr>
193	193
194	194	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.
195	195
196		-__3. Timed move (**T**)__
	204	+====== __3. Timed move (**T**)__ ======
197	197
198	198	Example: #5P1500T2500<cr>
199	199
200	200	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.
201	201
202		-__4. Speed (**S**)__
	210	+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.
203	203
	212	+====== __4. Speed (**S**)__ ======
	213	+
204	204	Example: #5P1500S750<cr>
205	205
206	206	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.
207	207
208		-__5. (Relative) Move in Degrees (**MD**)__
	218	+====== __5. (Relative) Move in Degrees (**MD**)__ ======
209	209
210	210	Example: #5MD123<cr>
211	211
212	212	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.
213	213
214		-__6. Origin Offset Action (**O**)__
	224	+====== __6. Origin Offset Action (**O**)__ ======
215	215
216	216	Example: #5O2400<cr>
217	217
...	...	@@ -235,7 +235,7 @@
235	235
236	236	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.
237	237
238		-__7. Angular Range (**AR**)__
	248	+====== __7. Angular Range (**AR**)__ ======
239	239
240	240	Example: #5AR1800<cr>
241	241
...	...	@@ -259,7 +259,7 @@
259	259
260	260	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.
261	261
262		-__8. Position in Pulse (**P**)__
	272	+====== __8. Position in Pulse (**P**)__ ======
263	263
264	264	Example: #5P2334<cr>
265	265
...	...	@@ -272,7 +272,7 @@
272	272	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.
273	273	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).
274	274
275		-__9. Position in Degrees (**D**)__
	285	+====== __9. Position in Degrees (**D**)__ ======
276	276
277	277	Example: #5PD1456<cr>
278	278
...	...	@@ -286,7 +286,7 @@
286	286
287	287	This means the servo is located at 13.2 degrees.
288	288
289		-__10. Wheel Mode in Degrees (**WD**)__
	299	+====== __10. Wheel Mode in Degrees (**WD**)__ ======
290	290
291	291	Ex: #5WD900<cr>
292	292
...	...	@@ -298,7 +298,7 @@
298	298
299	299	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).
300	300
301		-__11. Wheel Mode in RPM (**WR**)__
	311	+====== __11. Wheel Mode in RPM (**WR**)__ ======
302	302
303	303	Ex: #5WR40<cr>
304	304
...	...	@@ -310,7 +310,7 @@
310	310
311	311	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).
312	312
313		-__12. Speed in Degrees (**SD**)__
	323	+====== __12. Speed in Degrees (**SD**)__ ======
314	314
315	315	Ex: #5SD1800<cr>
316	316
...	...	@@ -335,7 +335,7 @@
335	335
336	336	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.
337	337
338		-__13. Speed in RPM (**SR**)__
	348	+====== __13. Speed in RPM (**SR**)__ ======
339	339
340	340	Ex: #5SD45<cr>
341	341
...	...	@@ -360,7 +360,7 @@
360	360
361	361	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.
362	362
363		-__14. Angular Stiffness (**AS**)__
	373	+====== __14. Angular Stiffness (**AS**)__ ======
364	364
365	365	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.
366	366
...	...	@@ -388,7 +388,7 @@
388	388
389	389	Writes the desired angular stiffness value to memory.
390	390
391		-__15. Angular Hold Stiffness (**AH**)__
	401	+====== __15. Angular Hold Stiffness (**AH**)__ ======
392	392
393	393	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.
394	394
...	...	@@ -408,19 +408,19 @@
408	408
409	409	This writes the angular holding stiffness of servo #5 to 2 to EEPROM
410	410
411		-__15b: Angular Acceleration (**AA**)__
	421	+====== __15b: Angular Acceleration (**AA**)__ ======
412	412
413	413	{More details to come}
414	414
415		-__15c: Angular Deceleration (**AD**)__
	425	+====== __15c: Angular Deceleration (**AD**)__ ======
416	416
417	417	{More details to come}
418	418
419		-__15d: Motion Control (**MC**)__
	429	+====== __15d: Motion Control (**EM**)__ ======
420	420
421	421	{More details to come}
422	422
423		-__16. RGB LED (**LED**)__
	433	+====== __16. RGB LED (**LED**)__ ======
424	424
425	425	Ex: #5LED3<cr>
426	426
...	...	@@ -438,8 +438,22 @@
438	438
439	439	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.
440	440
441		-__17. Identification Number__
	451	+====== __16b. Configure LED Blinking (**CLB**)__ ======
442	442
	453	+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).
	454	+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;
	455	+
	456	+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:
	457	+
	458	+Ex: #5CLB0<cr> to turn off all blinking (LED always solid)
	459	+Ex: #5CLB1<cr> only blink when limp
	460	+Ex: #5CLB2<cr> only blink when holding
	461	+Ex: #5CLB12<cr> only blink when accel or decel
	462	+Ex: #5CLB48<cr> only blink when free or travel
	463	+Ex: #5CLB63<cr> blink in all status
	464	+
	465	+====== __17. Identification Number__ ======
	466	+
443	443	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.
444	444
445	445	Query Identification (**QID**)
...	...	@@ -454,7 +454,7 @@
454	454
455	455	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.
456	456
457		-__18. Baud Rate__
	481	+====== __18. Baud Rate__ ======
458	458
459	459	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.
460	460	\*: 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.
...	...	@@ -467,11 +467,13 @@
467	467
468	468	Configure Baud Rate (**CB**)
469	469
	494	+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.
	495	+
470	470	Ex: #5CB9600<cr>
471	471
472	472	Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
473	473
474		-__19. Gyre Rotation Direction__
	500	+====== __19. Gyre Rotation Direction__ ======
475	475
476	476	"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).
477	477
...	...	@@ -489,7 +489,7 @@
489	489
490	490	This changes the gyre direction as described above and also writes to EEPROM.
491	491
492		-__20. First / Initial Position (pulse)__
	518	+====== __20. First / Initial Position (pulse)__ ======
493	493
494	494	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.
495	495
...	...	@@ -505,7 +505,7 @@
505	505
506	506	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).
507	507
508		-__21. First / Initial Position (Degrees)__
	534	+====== __21. First / Initial Position (Degrees)__ ======
509	509
510	510	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.
511	511
...	...	@@ -521,37 +521,37 @@
521	521
522	522	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.
523	523
524		-__22. Query Target Position in Degrees (**QDT**)__
	550	+====== __22. Query Target Position in Degrees (**QDT**)__ ======
525	525
526	526	Ex: #5QDT<cr> might return *5QDT6783<cr>
527	527
528	528	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>).
529	529
530		-__23. Query Model String (**QMS**)__
	556	+====== __23. Query Model String (**QMS**)__ ======
531	531
532	532	Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
533	533
534	534	This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
535	535
536		-__23b. Query Model (**QM**)__
	562	+====== __23b. Query Model (**QM**)__ ======
537	537
538	538	Ex: #5QM<cr> might return *5QM68702699520cr>
539	539
540	540	This reply means the servo model is 0xFFF000000 or 100, meaning a high speed servo, first revision.
541	541
542		-__24. Query Serial Number (**QN**)__
	568	+====== __24. Query Serial Number (**QN**)__ ======
543	543
544	544	Ex: #5QN<cr> might return *5QN~_~_<cr>
545	545
546	546	The number in the response is the servo's serial number which is set and cannot be changed.
547	547
548		-__25. Query Firmware (**QF**)__
	574	+====== __25. Query Firmware (**QF**)__ ======
549	549
550	550	Ex: #5QF<cr> might return *5QF11<cr>
551	551
552	552	The integer in the reply represents the firmware version with one decimal, in this example being 1.1
553	553
554		-__26. Query Status (**Q**)__
	580	+====== __26. Query Status (**Q**)__ ======
555	555
556	556	Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
557	557
...	...	@@ -561,32 +561,32 @@
561	561	|ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
562	562	|ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
563	563	|ex: *5Q4<cr>|Traveling|Moving at a stable speed
564		-|ex: *5Q5<cr>|Deccelerating|Decreasing speed towards travel speed towards rest
	590	+|ex: *5Q5<cr>|Decelerating|Decreasing from travel speed towards final position.
565	565	|ex: *5Q6<cr>|Holding|Keeping current position
566	566	|ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque
567		-|ex: *5Q8<cr>|Outside limits|More details coming soon
	593	+|ex: *5Q8<cr>|Outside limits|{More details coming soon}
568	568	|ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting
569		-|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maxiumum duty and still cannot move (i.e.: stalled)
	595	+|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
570	570
571		-__27. Query Voltage (**QV**)__
	597	+====== __27. Query Voltage (**QV**)__ ======
572	572
573	573	Ex: #5QV<cr> might return *5QV11200<cr>
574	574
575	575	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).
576	576
577		-__28. Query Temperature (**QT**)__
	603	+====== __28. Query Temperature (**QT**)__ ======
578	578
579	579	Ex: #5QT<cr> might return *5QT564<cr>
580	580
581	581	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.
582	582
583		-__29. Query Current (**QC**)__
	609	+====== __29. Query Current (**QC**)__ ======
584	584
585	585	Ex: #5QC<cr> might return *5QC140<cr>
586	586
587	587	The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
588	588
589		-__30. RC Mode (**CRC**)__
	615	+====== __30. RC Mode (**CRC**)__ ======
590	590
591	591	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.
592	592
...	...	@@ -598,13 +598,13 @@
598	598
599	599	EX: #5CRC<cr>
600	600
601		-__31. RESET__
	627	+====== __31. RESET__ ======
602	602
603	603	Ex: #5RESET<cr> or #5RS<cr>
604	604
605	605	This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
606	606
607		-__32. DEFAULT & CONFIRM__
	633	+====== __32. DEFAULT & CONFIRM__ ======
608	608
609	609	Ex: #5DEFAULT<cr>
610	610
...	...	@@ -616,7 +616,7 @@
616	616
617	617	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
618	618
619		-__33. UPDATE & CONFIRM__
	645	+====== __33. UPDATE & CONFIRM__ ======
620	620
621	621	Ex: #5UPDATE<cr>
622	622

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