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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

...	...	@@ -1,7 +1,14 @@
1		-= Protocol concepts =
	1	+(% class="wikigeneratedid" id="HTableofContents" %)
	2	+**Table of Contents**
2	2
3		-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.
	4	+{{toc depth="3"/}}
4	4
	6	+= Serial Protocol Concept =
	7	+
	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.
	9	+
	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	+
5	5	== Session ==
6	6
7	7	A "session" is defined as the time between when the servo is powered ON to when it is powered OFF or reset.
...	...	@@ -8,7 +8,7 @@
8	8
9	9	== Action Commands ==
10	10
11		-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:
12	12
13	13	1. Start with a number sign # (U+0023)
14	14	1. Servo ID number as an integer
...	...	@@ -19,16 +19,12 @@
19	19	(((
20	20	Ex: #5PD1443<cr>
21	21
22		-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.
23	23
24		-Action commands cannot be combined with query commands, and only one action command can be sent at a time.
	31	+== Action Modifiers ==
25	25
26		-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:
27	27
28		-=== Action Modifiers ===
29		-
30		-Two commands can be used as action modifiers only: Timed Move and Speed. The format is:
31		-
32	32	1. Start with a number sign # (U+0023)
33	33	1. Servo ID number as an integer
34	34	1. Action command (one to three letters, no spaces, capital or lower case)
...	...	@@ -39,14 +39,12 @@
39	39
40	40	Ex: #5P1456T1263<cr>
41	41
42		-Results in the servo rotating from the current angular position to a pulse position of 1456 in 1263 milliseconds.
43		-
44		-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.
45	45	)))
46	46
47	47	== Configuration Commands ==
48	48
49		-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:
50	50
51	51	1. Start with a number sign # (U+0023)
52	52	1. Servo ID number as an integer
...	...	@@ -56,15 +56,11 @@
56	56
57	57	Ex: #5CO-50<cr>
58	58
59		-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.
60	60
61		-Configuration commands are not cumulative, in that if two configurations are sent at any time, only the last configuration is used and stored.
62		-
63		-*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.
64		-
65	65	== Query Commands ==
66	66
67		-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:
68	68
69	69	1. Start with a number sign # (U+0023)
70	70	1. Servo ID number as an integer
...	...	@@ -76,27 +76,29 @@
76	76	)))
77	77
78	78	(((
79		-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:
80	80
81		-1. Start with an asterisk (U+002A)
	78	+1. Start with an asterisk * (U+002A)
82	82	1. Servo ID number as an integer
83	83	1. Query command (one to three letters, no spaces, capital letters)
84	84	1. The reported value in the units described, no decimals.
85	85	1. End with a control / carriage return '<cr>'
86	86
	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	+
87	87	(((
88	88	Ex: *5QD1443<cr>
89	89	)))
90	90
91		-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).
92	92
93	93	**Session vs Configuration Query**
94	94
95		-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.
96	96
97		-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.
98	98
99		-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) .
100	100
101	101	After RESET: #5SR4<cr> sets the session's speed to 4rpm.
102	102
...	...	@@ -104,21 +104,19 @@
104	104
105	105	#5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
106	106
107		-=== Virtual Angular Position ===
	106	+== Virtual Angular Position ==
108	108
109		-{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).
110	110
111		-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.
112		-
113	113	[[image:LSS-servo-positions.jpg]]
114	114
115		-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:
116	116
117		-#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)
118	118
119	119	#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
120	120
121		-#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.
122	122
123	123	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.
124	124
...	...	@@ -131,85 +131,100 @@
131	131
132	132	= Command List =
133	133
134		-|= #|=Description|= Action|= Query|= Config|= RC|= Serial|= Units|= Notes
135		-| 1|**L**imp| L| | | | ✓| none|
136		-| 2|**H**alt & Hold| H| | | | ✓| none|
137		-| 3|**T**imed move| T| | | | ✓| milliseconds| Modifier only
138		-| 4|**S**peed| S| | | | ✓| microseconds / second| Modifier only
139		-| 5|**M**ove in **D**egrees (relative)| MD| | | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
140		-| 6|**O**rigin Offset| O| QO| CO| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
141		-| 7|**A**ngular **R**ange| AR| QAR| CAR| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
142		-| 8|Position in **P**ulse| P| QP| | | ✓| microseconds|(((
143		-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
144	144	)))
145		-| 9|Position in **D**egrees| D| QD| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
146		-| 10|**W**heel mode in **D**egrees| WD| QWD| | | ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|
147		-| 11|**W**heel mode in **R**PM| WR| QWR| | | ✓| rpm|
148		-| 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
149		-| 13|Max **S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|QSR: Add modifier "2" for instantaneous speed
150		-| 14|**A**ngular **S**tiffness| AS| QAS| CAS| ✓| ✓|none|-4 to +4, but suggested values are between 0 to +4
151		-| 15|**A**ngular **H**olding Stiffness|AH|QAH|CAH| | ✓|none|-10 to +10, with default as 0.
152		-|15b|**A**ngular **A**cceleration|AA|QAA|CAA| | ✓|degrees per second squared|Increments of 10 degrees per second squared
153		-|15c|**A**ngular **D**eceleration|AD|QAD|CAD| | ✓|degrees per second squared|Increments of 10 degrees per second squared
154		-|15d|**M**otion **C**ontrol|MC|QMC| | | ✓|none|MC0 to disable motion control, MC1 to enable. Session specific
155		-| 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
156		-| 17|**ID** #| | QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to
157		-| 18|**B**aud rate| B| QB| CB| | ✓| none (integer)|
158		-| 19|**G**yre direction (**G**)| G| QG| CG| ✓| ✓| none | Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise)
159		-| 20|**F**irst Position (**P**ulse)| | QFP|CFP | ✓| ✓| none |
160		-| 21|**F**irst Position (**D**egrees)| | QFD|CFD| ✓| ✓| none |
161		-| 22|**T**arget (**D**egree) **P**osition| | QDT| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
162		-| 23|**M**odel **String**| | QMS| | | | none (string)| Recommended to determine the model|
163		-| 23b|**M**odel| | QM| | | | none (integer)| Returns a raw value representing the three model inputs (36 bit)|
164		-| 24|Serial **N**umber| | QN| | | | none (integer)|
165		-| 25|**F**irmware version| | QF| | | | none (integer)|
166		-| 26|**Q**uery (general status)| | Q| | | ✓| none (integer from 1 to 8)| See command description for details
167		-| 27|**V**oltage| | QV| | | ✓| millivolts (ex 5936 = 5936mV = 5.936V)|
168		-| 28|**T**emperature| | QT| | | ✓| tenths of degrees Celsius|Max temp before error: 85°C (servo goes limp)
169		-| 29|**C**urrent| | QC| | | ✓| milliamps (ex 200 = 0.2A)|
170		-| 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" %)(((
171	171	CRC: Add modifier "1" for RC-position mode.
172	172	CRC: Add modifier "2" for RC-wheel mode.
173	173	Any other value for the modifier results in staying in smart mode.
174	174	Puts the servo into RC mode. To revert to smart mode, use the button menu.
175		-)))
176		-|31|**RESET**| | | | | ✓|none|Soft reset. See command for details.
177		-|32|**DEFAULT**| | | | |✓|none|Revert to firmware default values. See command for details
178		-|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" %)
179	179
	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	+
180	180	== Details ==
181	181
182		-==== __1. Limp (**L**)__ ====
	192	+====== __1. Limp (**L**)__ ======
183	183
184	184	Example: #5L<cr>
185	185
186	186	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>.
187	187
188		-__2. Halt & Hold (**H**)__
	198	+====== __2. Halt & Hold (**H**)__ ======
189	189
190	190	Example: #5H<cr>
191	191
192	192	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.
193	193
194		-__3. Timed move (**T**)__
	204	+====== __3. Timed move (**T**)__ ======
195	195
196	196	Example: #5P1500T2500<cr>
197	197
198	198	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.
199	199
200		-__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.
201	201
	212	+====== __4. Speed (**S**)__ ======
	213	+
202	202	Example: #5P1500S750<cr>
203	203
204	204	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.
205	205
206		-__5. (Relative) Move in Degrees (**MD**)__
	218	+====== __5. (Relative) Move in Degrees (**MD**)__ ======
207	207
208	208	Example: #5MD123<cr>
209	209
210	210	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.
211	211
212		-__6. Origin Offset Action (**O**)__
	224	+====== __6. Origin Offset Action (**O**)__ ======
213	213
214	214	Example: #5O2400<cr>
215	215
...	...	@@ -233,7 +233,7 @@
233	233
234	234	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.
235	235
236		-__7. Angular Range (**AR**)__
	248	+====== __7. Angular Range (**AR**)__ ======
237	237
238	238	Example: #5AR1800<cr>
239	239
...	...	@@ -257,7 +257,7 @@
257	257
258	258	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.
259	259
260		-__8. Position in Pulse (**P**)__
	272	+====== __8. Position in Pulse (**P**)__ ======
261	261
262	262	Example: #5P2334<cr>
263	263
...	...	@@ -270,7 +270,7 @@
270	270	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.
271	271	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).
272	272
273		-__9. Position in Degrees (**D**)__
	285	+====== __9. Position in Degrees (**D**)__ ======
274	274
275	275	Example: #5PD1456<cr>
276	276
...	...	@@ -284,7 +284,7 @@
284	284
285	285	This means the servo is located at 13.2 degrees.
286	286
287		-__10. Wheel Mode in Degrees (**WD**)__
	299	+====== __10. Wheel Mode in Degrees (**WD**)__ ======
288	288
289	289	Ex: #5WD900<cr>
290	290
...	...	@@ -296,7 +296,7 @@
296	296
297	297	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).
298	298
299		-__11. Wheel Mode in RPM (**WR**)__
	311	+====== __11. Wheel Mode in RPM (**WR**)__ ======
300	300
301	301	Ex: #5WR40<cr>
302	302
...	...	@@ -308,7 +308,7 @@
308	308
309	309	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).
310	310
311		-__12. Speed in Degrees (**SD**)__
	323	+====== __12. Speed in Degrees (**SD**)__ ======
312	312
313	313	Ex: #5SD1800<cr>
314	314
...	...	@@ -333,7 +333,7 @@
333	333
334	334	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.
335	335
336		-__13. Speed in RPM (**SR**)__
	348	+====== __13. Speed in RPM (**SR**)__ ======
337	337
338	338	Ex: #5SD45<cr>
339	339
...	...	@@ -358,7 +358,7 @@
358	358
359	359	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.
360	360
361		-__14. Angular Stiffness (**AS**)__
	373	+====== __14. Angular Stiffness (**AS**)__ ======
362	362
363	363	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.
364	364
...	...	@@ -386,7 +386,7 @@
386	386
387	387	Writes the desired angular stiffness value to memory.
388	388
389		-__15. Angular Hold Stiffness (**AH**)__
	401	+====== __15. Angular Hold Stiffness (**AH**)__ ======
390	390
391	391	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.
392	392
...	...	@@ -406,19 +406,19 @@
406	406
407	407	This writes the angular holding stiffness of servo #5 to 2 to EEPROM
408	408
409		-__15b: Angular Acceleration (**AA**)__
	421	+====== __15b: Angular Acceleration (**AA**)__ ======
410	410
411	411	{More details to come}
412	412
413		-__15c: Angular Deceleration (**AD**)__
	425	+====== __15c: Angular Deceleration (**AD**)__ ======
414	414
415	415	{More details to come}
416	416
417		-__15d: Motion Control (**MC**)__
	429	+====== __15d: Motion Control (**EM**)__ ======
418	418
419	419	{More details to come}
420	420
421		-__16. RGB LED (**LED**)__
	433	+====== __16. RGB LED (**LED**)__ ======
422	422
423	423	Ex: #5LED3<cr>
424	424
...	...	@@ -436,8 +436,22 @@
436	436
437	437	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.
438	438
439		-__17. Identification Number__
	451	+====== __16b. Configure LED Blinking (**CLB**)__ ======
440	440
	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	+
441	441	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.
442	442
443	443	Query Identification (**QID**)
...	...	@@ -452,7 +452,7 @@
452	452
453	453	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.
454	454
455		-__18. Baud Rate__
	481	+====== __18. Baud Rate__ ======
456	456
457	457	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.
458	458	\*: 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.
...	...	@@ -465,11 +465,13 @@
465	465
466	466	Configure Baud Rate (**CB**)
467	467
	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	+
468	468	Ex: #5CB9600<cr>
469	469
470	470	Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
471	471
472		-__19. Gyre Rotation Direction__
	500	+====== __19. Gyre Rotation Direction__ ======
473	473
474	474	"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).
475	475
...	...	@@ -487,7 +487,7 @@
487	487
488	488	This changes the gyre direction as described above and also writes to EEPROM.
489	489
490		-__20. First / Initial Position (pulse)__
	518	+====== __20. First / Initial Position (pulse)__ ======
491	491
492	492	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.
493	493
...	...	@@ -503,7 +503,7 @@
503	503
504	504	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).
505	505
506		-__21. First / Initial Position (Degrees)__
	534	+====== __21. First / Initial Position (Degrees)__ ======
507	507
508	508	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.
509	509
...	...	@@ -519,37 +519,37 @@
519	519
520	520	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.
521	521
522		-__22. Query Target Position in Degrees (**QDT**)__
	550	+====== __22. Query Target Position in Degrees (**QDT**)__ ======
523	523
524	524	Ex: #5QDT<cr> might return *5QDT6783<cr>
525	525
526	526	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>).
527	527
528		-__23. Query Model String (**QMS**)__
	556	+====== __23. Query Model String (**QMS**)__ ======
529	529
530	530	Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
531	531
532	532	This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
533	533
534		-__23b. Query Model (**QM**)__
	562	+====== __23b. Query Model (**QM**)__ ======
535	535
536	536	Ex: #5QM<cr> might return *5QM68702699520cr>
537	537
538	538	This reply means the servo model is 0xFFF000000 or 100, meaning a high speed servo, first revision.
539	539
540		-__24. Query Serial Number (**QN**)__
	568	+====== __24. Query Serial Number (**QN**)__ ======
541	541
542	542	Ex: #5QN<cr> might return *5QN~_~_<cr>
543	543
544	544	The number in the response is the servo's serial number which is set and cannot be changed.
545	545
546		-__25. Query Firmware (**QF**)__
	574	+====== __25. Query Firmware (**QF**)__ ======
547	547
548	548	Ex: #5QF<cr> might return *5QF11<cr>
549	549
550	550	The integer in the reply represents the firmware version with one decimal, in this example being 1.1
551	551
552		-__26. Query Status (**Q**)__
	580	+====== __26. Query Status (**Q**)__ ======
553	553
554	554	Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
555	555
...	...	@@ -559,32 +559,32 @@
559	559	|ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
560	560	|ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
561	561	|ex: *5Q4<cr>|Traveling|Moving at a stable speed
562		-|ex: *5Q5<cr>|Deccelerating|Decreasing speed towards travel speed towards rest
	590	+|ex: *5Q5<cr>|Decelerating|Decreasing from travel speed towards final position.
563	563	|ex: *5Q6<cr>|Holding|Keeping current position
564	564	|ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque
565		-|ex: *5Q8<cr>|Outside limits|More details coming soon
	593	+|ex: *5Q8<cr>|Outside limits|{More details coming soon}
566	566	|ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting
567		-|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)
568	568
569		-__27. Query Voltage (**QV**)__
	597	+====== __27. Query Voltage (**QV**)__ ======
570	570
571	571	Ex: #5QV<cr> might return *5QV11200<cr>
572	572
573	573	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).
574	574
575		-__28. Query Temperature (**QT**)__
	603	+====== __28. Query Temperature (**QT**)__ ======
576	576
577	577	Ex: #5QT<cr> might return *5QT564<cr>
578	578
579	579	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.
580	580
581		-__29. Query Current (**QC**)__
	609	+====== __29. Query Current (**QC**)__ ======
582	582
583	583	Ex: #5QC<cr> might return *5QC140<cr>
584	584
585	585	The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
586	586
587		-__30. RC Mode (**CRC**)__
	615	+====== __30. RC Mode (**CRC**)__ ======
588	588
589	589	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.
590	590
...	...	@@ -596,13 +596,13 @@
596	596
597	597	EX: #5CRC<cr>
598	598
599		-__31. RESET__
	627	+====== __31. RESET__ ======
600	600
601	601	Ex: #5RESET<cr> or #5RS<cr>
602	602
603	603	This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
604	604
605		-__32. DEFAULT & CONFIRM__
	633	+====== __32. DEFAULT & CONFIRM__ ======
606	606
607	607	Ex: #5DEFAULT<cr>
608	608
...	...	@@ -614,7 +614,7 @@
614	614
615	615	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
616	616
617		-__33. UPDATE & CONFIRM__
	645	+====== __33. UPDATE & CONFIRM__ ======
618	618
619	619	Ex: #5UPDATE<cr>
620	620

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