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...	...	@@ -1,6 +1,8 @@
	1	+= Table of Contents =
	2	+
1	1	{{toc depth="3"/}}
2	2
3		-= Protocol concepts =
	5	+= Protocol Concepts =
4	4
5	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.
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...	...	@@ -161,7 +161,7 @@
161	161	| 20|[[**F**irst Position (**P**ulse)>>||anchor="H20.First2InitialPosition28pulse29"]]| | QFP|CFP | ✓| ✓| none |
162	162	| 21|[[**F**irst Position (**D**egrees)>>||anchor="H21.First2InitialPosition28Degrees29"]]| | QFD|CFD| ✓| ✓| none |
163	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|
	166	+| 23|[[**M**odel **S**tring>>||anchor="H23.QueryModelString28QMS29"]]| | QMS| | | | none (string)| Recommended to determine the model|
165	165	| 23b|[[**M**odel>>||anchor="H23b.QueryModel28QM29"]]| | QM| | | | none (integer)| Returns a raw value representing the three model inputs (36 bit)|
166	166	| 24|[[Serial **N**umber>>||anchor="H24.QuerySerialNumber28QN29"]]| | QN| | | | none (integer)|
167	167	| 25|[[**F**irmware version>>||anchor="H25.QueryFirmware28QF29"]]| | QF| | | | none (integer)|
...	...	@@ -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
	566	+|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
	569	+|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)
	571	+|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