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Parent

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

Author

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1		-xwiki:XWiki.RB1
	1	+xwiki:XWiki.CBenson

Tags

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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
...	...	@@ -133,52 +133,65 @@
133	133
134	134	= Command List =
135	135
136		-|= #|=Description|= Action|= Query|= Config|= RC|= Serial|= Units|= Notes
137		-| 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| L| | | | ✓| none|
138		-| 2|[[**H**alt & Hold>>||anchor="H2.Halt26Hold28H29"]]| H| | | | ✓| none|
139		-| 3|[[**T**imed move>>||anchor="H3.Timedmove28T29"]]| T| | | | ✓| milliseconds| Modifier only
140		-| 4|[[**S**peed>>||anchor="H4.Speed28S29"]]| S| | | | ✓| microseconds / second| Modifier only
141		-| 5|[[**M**ove in **D**egrees (relative)>>||anchor="H5.28Relative29MoveinDegrees28MD29"]]| MD| | | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
142		-| 6|[[**O**rigin Offset>>||anchor="H6.OriginOffsetAction28O29"]]| O| QO| CO| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
143		-| 7|[[**A**ngular **R**ange>>||anchor="H7.AngularRange28AR29"]]| AR| QAR| CAR| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
144		-| 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| 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>>||anchor="H9.PositioninDegrees28D29"]]| D| QD| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
148		-| 10|[[**W**heel mode in **D**egrees>>||anchor="H10.WheelModeinDegrees28WD29"]]| WD| QWD| | | ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|
149		-| 11|[[**W**heel mode in **R**PM>>||anchor="H11.WheelModeinRPM28WR29"]]| WR| QWR| | | ✓| rpm|
150		-| 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)|QSD: Add modifier "2" for instantaneous speed
151		-| 13|[[Max **S**peed in **R**PM>>||anchor="H13.SpeedinRPM28SR29"]]| SR| QSR| CSR| ✓| ✓| rpm|QSR: Add modifier "2" for instantaneous speed
152		-| 14|[[**A**ngular **S**tiffness>>||anchor="H14.AngularStiffness28AS29"]]| AS| QAS| CAS| ✓| ✓|none|-4 to +4, but suggested values are between 0 to +4
153		-| 15|[[**A**ngular **H**olding Stiffness>>||anchor="H15.AngularHoldStiffness28AH29"]]|AH|QAH|CAH| | ✓|none|-10 to +10, with default as 0.
154		-|15b|[[**A**ngular **A**cceleration>>||anchor="H15b:AngularAcceleration28AA29"]]|AA|QAA|CAA| | ✓|degrees per second squared|Increments of 10 degrees per second squared
155		-|15c|[[**A**ngular **D**eceleration>>||anchor="H15c:AngularDeceleration28AD29"]]|AD|QAD|CAD| | ✓|degrees per second squared|Increments of 10 degrees per second squared
156		-|15d|[[**M**otion **C**ontrol>>||anchor="H15d:MotionControl28MC29"]]|MC|QMC| | | ✓|none|MC0 to disable motion control, MC1 to enable. Session specific
157		-| 16|[[**LED** Color>>||anchor="H16.RGBLED28LED29"]]| 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** #>>||anchor="H17.IdentificationNumber"]]| | QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to
159		-| 18|[[**B**aud rate>>||anchor="H18.BaudRate"]]| B| QB| CB| | ✓| none (integer)|
160		-| 19|[[**G**yre direction (**G**)>>||anchor="H19.GyreRotationDirection"]]| G| QG| CG| ✓| ✓| none | Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise)
161		-| 20|[[**F**irst Position (**P**ulse)>>||anchor="H20.First2InitialPosition28pulse29"]]| | QFP|CFP | ✓| ✓| none |
162		-| 21|[[**F**irst Position (**D**egrees)>>||anchor="H21.First2InitialPosition28Degrees29"]]| | QFD|CFD| ✓| ✓| none |
163		-| 22|[[**T**arget (**D**egree) **P**osition>>||anchor="H22.QueryTargetPositioninDegrees28QDT29"]]| | QDT| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
164		-| 23|[[**M**odel **String**>>||anchor="H23.QueryModelString28QMS29"]]| | QMS| | | | none (string)| Recommended to determine the model|
165		-| 23b|[[**M**odel>>||anchor="H23b.QueryModel28QM29"]]| | QM| | | | none (integer)| Returns a raw value representing the three model inputs (36 bit)|
166		-| 24|[[Serial **N**umber>>||anchor="H24.QuerySerialNumber28QN29"]]| | QN| | | | none (integer)|
167		-| 25|[[**F**irmware version>>||anchor="H25.QueryFirmware28QF29"]]| | QF| | | | none (integer)|
168		-| 26|[[**Q**uery (general status)>>||anchor="H26.QueryStatus28Q29"]]| | Q| | | ✓| none (integer from 1 to 8)| See command description for details
169		-| 27|[[**V**oltage>>||anchor="H27.QueryVoltage28QV29"]]| | QV| | | ✓| millivolts (ex 5936 = 5936mV = 5.936V)|
170		-| 28|[[**T**emperature>>||anchor="H28.QueryTemperature28QT29"]]| | QT| | | ✓| tenths of degrees Celsius|Max temp before error: 85°C (servo goes limp)
171		-| 29|[[**C**urrent>>||anchor="H29.QueryCurrent28QC29"]]| | QC| | | ✓| milliamps (ex 200 = 0.2A)|
172		-| 30|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]]| | |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**>>||anchor="H31.RESET"]]| | | | | ✓|none|Soft reset. See command for details.
179		-|32|[[**DEFAULT**>>||anchor="H32.DEFAULTA026CONFIRM"]]| | | | |✓|none|Revert to firmware default values. See command for details
180		-|33|[[**UPDATE**>>||anchor="H33.UPDATEA026CONFIRM"]]| | | | |✓|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	184	====== __1. Limp (**L**)__ ======
...	...	@@ -199,6 +199,8 @@
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
	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.
	211	+
202	202	====== __4. Speed (**S**)__ ======
203	203
204	204	Example: #5P1500S750<cr>
...	...	@@ -416,7 +416,7 @@
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
...	...	@@ -438,6 +438,20 @@
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
	451	+====== __16b. Configure LED Blinking (**CLB**)__ ======
	452	+
	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	+
441	441	====== __17. Identification Number__ ======
442	442
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.
...	...	@@ -467,6 +467,8 @@
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.
...	...	@@ -561,12 +561,12 @@
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	571	====== __27. Query Voltage (**QV**)__ ======
572	572

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