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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.
6	6
...	...	@@ -153,7 +153,7 @@
153	153	| 15|[[**A**ngular **H**olding Stiffness>>||anchor="H15.AngularHoldStiffness28AH29"]]|AH|QAH|CAH| | ✓|none|-10 to +10, with default as 0.
154	154	|15b|[[**A**ngular **A**cceleration>>||anchor="H15b:AngularAcceleration28AA29"]]|AA|QAA|CAA| | ✓|degrees per second squared|Increments of 10 degrees per second squared
155	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
	158	+|15d|[[**E**nable **M**otion control>>||anchor="H15d:MotionControl28MC29"]]|EM|QEM| | | ✓|none|EM0 to disable motion control, EM1 to enable. Session specific / does not survive power cycles
157	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	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	159	| 18|[[**B**aud rate>>||anchor="H18.BaudRate"]]| B| QB| CB| | ✓| none (integer)|
...	...	@@ -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)|
...	...	@@ -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
	204	+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.
	205	+
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**)__ ======
	423	+====== __15d: Motion Control (**EM**)__ ======
420	420
421	421	{More details to come}
422	422
...	...	@@ -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
	568	+|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
	571	+|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)
	573	+|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