Changes for page LSS Communication Protocol

Last modified by Eric Nantel on 2025/06/06 07:47

From version < 72.2 >

edited by Eric Nantel
on 2019/01/08 11:45

To version < 64.15 >

edited by RB1
on 2018/11/19 09:30

< >

Change comment: There is no comment for this version

Summary

Page properties (3 modified, 0 added, 0 removed)

Details

Page properties

Parent

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

Author

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--xwiki:XWiki.ENantel
++xwiki:XWiki.RB1

Content

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          +3,6 @@
--= Table of Contents =
--
  {{toc depth="3"/}}
--= Protocol Concepts =
++= Protocol concepts =
  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.
@@ -29,7
          +29,7 @@
  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 Modifiers ==
++=== Action Modifiers ===
  Two commands can be used as action modifiers only: Timed Move and Speed. The format is:
@@ -108,7
          +108,7 @@
  #5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
--== Virtual Angular Position ==
++=== Virtual Angular Position ===
  {In progress}
@@ -136,50
          +136,50 @@
  = Command List =
  |= #|=Description|= Action|= Query|= Config|= RC|= Serial|= Units|= Notes
--| 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| L| | | |  ✓| none|
--| 2|[[**H**alt & Hold>>||anchor="H2.Halt26Hold28H29"]]| H| | | |  ✓| none|
--| 3|[[**T**imed move>>||anchor="H3.Timedmove28T29"]]| T| | | |  ✓| milliseconds| Modifier only
--| 4|[[**S**peed>>||anchor="H4.Speed28S29"]]| S| | | |  ✓| microseconds / second| Modifier only
--| 5|[[**M**ove in **D**egrees (relative)>>||anchor="H5.28Relative29MoveinDegrees28MD29"]]| MD| | | |  ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
--| 6|[[**O**rigin Offset>>||anchor="H6.OriginOffsetAction28O29"]]| O| QO| CO| ✓|  ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
--| 7|[[**A**ngular **R**ange>>||anchor="H7.AngularRange28AR29"]]| AR| QAR| CAR| ✓|  ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
--| 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| P| QP| | | ✓| microseconds|(((
++| 1|**L**imp| L| | | |  ✓| none|
++| 2|**H**alt & Hold| H| | | |  ✓| none|
++| 3|**T**imed move| T| | | |  ✓| milliseconds| Modifier only
++| 4|**S**peed| S| | | |  ✓| microseconds / second| Modifier only
++| 5|**M**ove in **D**egrees (relative)| MD| | | |  ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
++| 6|**O**rigin Offset| O| QO| CO| ✓|  ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
++| 7|**A**ngular **R**ange| AR| QAR| CAR| ✓|  ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
++| 8|Position in **P**ulse| P| QP| | | ✓| microseconds|(((
  See details below
  )))
--| 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
--| 10|[[**W**heel mode in **D**egrees>>||anchor="H10.WheelModeinDegrees28WD29"]]| WD| QWD| | | ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|
--| 11|[[**W**heel mode in **R**PM>>||anchor="H11.WheelModeinRPM28WR29"]]| WR| QWR| | | ✓| rpm|
--| 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
--| 13|[[Max **S**peed in **R**PM>>||anchor="H13.SpeedinRPM28SR29"]]| SR| QSR| CSR| ✓| ✓| rpm|QSR: Add modifier "2" for instantaneous speed
--| 14|[[**A**ngular **S**tiffness>>||anchor="H14.AngularStiffness28AS29"]]| AS| QAS| CAS| ✓| ✓|none|-4 to +4, but suggested values are between 0 to +4
--| 15|[[**A**ngular **H**olding Stiffness>>||anchor="H15.AngularHoldStiffness28AH29"]]|AH|QAH|CAH| | ✓|none|-10 to +10, with default as 0.
--|15b|[[**A**ngular **A**cceleration>>||anchor="H15b:AngularAcceleration28AA29"]]|AA|QAA|CAA| | ✓|degrees per second squared|Increments of 10 degrees per second squared
--|15c|[[**A**ngular **D**eceleration>>||anchor="H15c:AngularDeceleration28AD29"]]|AD|QAD|CAD| | ✓|degrees per second squared|Increments of 10 degrees per second squared
--|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
--| 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
--| 17|[[**ID** #>>||anchor="H17.IdentificationNumber"]]| | QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to
--| 18|[[**B**aud rate>>||anchor="H18.BaudRate"]]| B| QB| CB| | ✓| none (integer)|
--| 19|[[**G**yre direction (**G**)>>||anchor="H19.GyreRotationDirection"]]| G| QG| CG| ✓| ✓| none | Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise)
--| 20|[[**F**irst Position (**P**ulse)>>||anchor="H20.First2InitialPosition28pulse29"]]| | QFP|CFP | ✓| ✓| none |
--| 21|[[**F**irst Position (**D**egrees)>>||anchor="H21.First2InitialPosition28Degrees29"]]| | QFD|CFD| ✓| ✓| none |
--| 22|[[**T**arget (**D**egree) **P**osition>>||anchor="H22.QueryTargetPositioninDegrees28QDT29"]]| | QDT| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
--| 23|[[**M**odel **S**tring>>||anchor="H23.QueryModelString28QMS29"]]| | QMS| | | | none (string)| Recommended to determine the model|
--| 23b|[[**M**odel>>||anchor="H23b.QueryModel28QM29"]]| | QM| | | | none (integer)| Returns a raw value representing the three model inputs (36 bit)|
--| 24|[[Serial **N**umber>>||anchor="H24.QuerySerialNumber28QN29"]]| | QN| | | | none (integer)|
--| 25|[[**F**irmware version>>||anchor="H25.QueryFirmware28QF29"]]| | QF| | | | none (integer)|
--| 26|[[**Q**uery (general status)>>||anchor="H26.QueryStatus28Q29"]]| | Q| | | ✓| none (integer from 1 to 8)| See command description for details
--| 27|[[**V**oltage>>||anchor="H27.QueryVoltage28QV29"]]| | QV| | | ✓| millivolts (ex 5936 = 5936mV = 5.936V)|
--| 28|[[**T**emperature>>||anchor="H28.QueryTemperature28QT29"]]| | QT| | | ✓| tenths of degrees Celsius|Max temp before error: 85°C (servo goes limp)
--| 29|[[**C**urrent>>||anchor="H29.QueryCurrent28QC29"]]| | QC| | | ✓| milliamps (ex 200 = 0.2A)|
--| 30|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]]| | |CRC| |✓|none|(((
++| 9|Position in **D**egrees| D| QD| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
++| 10|**W**heel mode in **D**egrees| WD| QWD| | | ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|
++| 11|**W**heel mode in **R**PM| WR| QWR| | | ✓| rpm|
++| 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
++| 13|Max **S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|QSR: Add modifier "2" for instantaneous speed
++| 14|**A**ngular **S**tiffness| AS| QAS| CAS| ✓| ✓|none|-4 to +4, but suggested values are between 0 to +4
++| 15|**A**ngular **H**olding Stiffness|AH|QAH|CAH| | ✓|none|-10 to +10, with default as 0.
++|15b|**A**ngular **A**cceleration|AA|QAA|CAA| | ✓|degrees per second squared|Increments of 10 degrees per second squared
++|15c|**A**ngular **D**eceleration|AD|QAD|CAD| | ✓|degrees per second squared|Increments of 10 degrees per second squared
++|15d|**M**otion **C**ontrol|MC|QMC| | | ✓|none|MC0 to disable motion control, MC1 to enable. Session specific
++| 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
++| 17|**ID** #| | QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to
++| 18|**B**aud rate| B| QB| CB| | ✓| none (integer)|
++| 19|**G**yre direction (**G**)| G| QG| CG| ✓| ✓| none | Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise)
++| 20|**F**irst Position (**P**ulse)| | QFP|CFP | ✓| ✓| none |
++| 21|**F**irst Position (**D**egrees)| | QFD|CFD| ✓| ✓| none |
++| 22|**T**arget (**D**egree) **P**osition| | QDT| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
++| 23|**M**odel **String**| | QMS| | | | none (string)| Recommended to determine the model|
++| 23b|**M**odel| | QM| | | | none (integer)| Returns a raw value representing the three model inputs (36 bit)|
++| 24|Serial **N**umber| | QN| | | | none (integer)|
++| 25|**F**irmware version| | QF| | | | none (integer)|
++| 26|**Q**uery (general status)| | Q| | | ✓| none (integer from 1 to 8)| See command description for details
++| 27|**V**oltage| | QV| | | ✓| millivolts (ex 5936 = 5936mV = 5.936V)|
++| 28|**T**emperature| | QT| | | ✓| tenths of degrees Celsius|Max temp before error: 85°C (servo goes limp)
++| 29|**C**urrent| | QC| | | ✓| milliamps (ex 200 = 0.2A)|
++| 30|**RC** Mode| | |CRC| |✓|none|(((
  CRC: Add modifier "1" for RC-position mode.
  CRC: Add modifier "2" for RC-wheel mode.
  Any other value for the modifier results in staying in smart mode.
  Puts the servo into RC mode. To revert to smart mode, use the button menu.
  )))
--|31|[[**RESET**>>||anchor="H31.RESET"]]| | | | | ✓|none|Soft reset. See command for details.
--|32|[[**DEFAULT**>>||anchor="H32.DEFAULTA026CONFIRM"]]| | | | |✓|none|Revert to firmware default values. See command for details
--|33|[[**UPDATE**>>||anchor="H33.UPDATEA026CONFIRM"]]| | | | |✓|none|Update firmware. See command for details.
++|31|**RESET**| | | | | ✓|none|Soft reset. See command for details.
++|32|**DEFAULT**| | | | |✓|none|Revert to firmware default values. See command for details
++|33|**UPDATE**| | | | |✓|none|Update firmware. See command for details.
  == Details ==
@@ -189,33
          +189,31 @@
  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>.
--====== __2. Halt & Hold (**H**)__ ======
++__2. Halt & Hold (**H**)__
  Example: #5H<cr>
  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.
--====== __3. Timed move (**T**)__ ======
++__3. Timed move (**T**)__
  Example: #5P1500T2500<cr>
  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.
--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.
++__4. Speed (**S**)__
--====== __4. Speed (**S**)__ ======
--
  Example: #5P1500S750<cr>
  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.
--====== __5. (Relative) Move in Degrees (**MD**)__ ======
++__5. (Relative) Move in Degrees (**MD**)__
  Example: #5MD123<cr>
  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.
--====== __6. Origin Offset Action (**O**)__ ======
++__6. Origin Offset Action (**O**)__
  Example: #5O2400<cr>
@@ -239,7
          +239,7 @@
  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.
--====== __7. Angular Range (**AR**)__ ======
++__7. Angular Range (**AR**)__
  Example: #5AR1800<cr>
@@ -263,7
          +263,7 @@
  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.
--====== __8. Position in Pulse (**P**)__ ======
++__8. Position in Pulse (**P**)__
  Example: #5P2334<cr>
@@ -276,7
          +276,7 @@
  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.
  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).
--====== __9. Position in Degrees (**D**)__ ======
++__9. Position in Degrees (**D**)__
  Example: #5PD1456<cr>
@@ -290,7
          +290,7 @@
  This means the servo is located at 13.2 degrees.
--====== __10. Wheel Mode in Degrees (**WD**)__ ======
++__10. Wheel Mode in Degrees (**WD**)__
  Ex: #5WD900<cr>
@@ -302,7
          +302,7 @@
  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).
--====== __11. Wheel Mode in RPM (**WR**)__ ======
++__11. Wheel Mode in RPM (**WR**)__
  Ex: #5WR40<cr>
@@ -314,7
          +314,7 @@
  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).
--====== __12. Speed in Degrees (**SD**)__ ======
++__12. Speed in Degrees (**SD**)__
  Ex: #5SD1800<cr>
@@ -339,7
          +339,7 @@
  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.
--====== __13. Speed in RPM (**SR**)__ ======
++__13. Speed in RPM (**SR**)__
  Ex: #5SD45<cr>
@@ -364,7
          +364,7 @@
  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.
--====== __14. Angular Stiffness (**AS**)__ ======
++__14. Angular Stiffness (**AS**)__
  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.
@@ -392,7
          +392,7 @@
  Writes the desired angular stiffness value to memory.
--====== __15. Angular Hold Stiffness (**AH**)__ ======
++__15. Angular Hold Stiffness (**AH**)__
  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.
@@ -412,19
          +412,19 @@
  This writes the angular holding stiffness of servo #5 to 2 to EEPROM
--====== __15b: Angular Acceleration (**AA**)__ ======
++__15b: Angular Acceleration (**AA**)__
  {More details to come}
--====== __15c: Angular Deceleration (**AD**)__ ======
++__15c: Angular Deceleration (**AD**)__
  {More details to come}
--====== __15d: Motion Control (**EM**)__ ======
++__15d: Motion Control (**MC**)__
  {More details to come}
--====== __16. RGB LED (**LED**)__ ======
++__16. RGB LED (**LED**)__
  Ex: #5LED3<cr>
@@ -442,7
          +442,7 @@
  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.
--====== __17. Identification Number__ ======
++__17. Identification Number__
  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.
@@ -458,7
          +458,7 @@
  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.
--====== __18. Baud Rate__ ======
++__18. Baud Rate__
  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.
  \*: 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.
@@ -475,7
          +475,7 @@
  Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
--====== __19. Gyre Rotation Direction__ ======
++__19. Gyre Rotation Direction__
  "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).
@@ -493,7
          +493,7 @@
  This changes the gyre direction as described above and also writes to EEPROM.
--====== __20. First / Initial Position (pulse)__ ======
++__20. First / Initial Position (pulse)__
  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.
@@ -509,7
          +509,7 @@
  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).
--====== __21. First / Initial Position (Degrees)__ ======
++__21. First / Initial Position (Degrees)__
  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.
@@ -525,37
          +525,37 @@
  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.
--====== __22. Query Target Position in Degrees (**QDT**)__ ======
++__22. Query Target Position in Degrees (**QDT**)__
  Ex: #5QDT<cr> might return *5QDT6783<cr>
  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>).
--====== __23. Query Model String (**QMS**)__ ======
++__23. Query Model String (**QMS**)__
  Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
  This reply means the servo model  is LSS-HS1, meaning a high speed servo, first revision.
--====== __23b. Query Model (**QM**)__ ======
++__23b. Query Model (**QM**)__
  Ex: #5QM<cr> might return *5QM68702699520cr>
  This reply means the servo model is 0xFFF000000 or 100, meaning a high speed servo, first revision.
--====== __24. Query Serial Number (**QN**)__ ======
++__24. Query Serial Number (**QN**)__
  Ex: #5QN<cr> might return *5QN~_~_<cr>
  The number in the response is the servo's serial number which is set and cannot be changed.
--====== __25. Query Firmware (**QF**)__ ======
++__25. Query Firmware (**QF**)__
  Ex: #5QF<cr> might return *5QF11<cr>
  The integer in the reply represents the firmware version with one decimal, in this example being 1.1
--====== __26. Query Status (**Q**)__ ======
++__26. Query Status (**Q**)__
  Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
@@ -565,32
          +565,32 @@
  |ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
  |ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
  |ex: *5Q4<cr>|Traveling|Moving at a stable speed
--|ex: *5Q5<cr>|Decelerating|Decreasing from travel speed towards final position.
++|ex: *5Q5<cr>|Deccelerating|Decreasing speed towards travel speed towards rest
  |ex: *5Q6<cr>|Holding|Keeping current position
  |ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque
--|ex: *5Q8<cr>|Outside limits|{More details coming soon}
++|ex: *5Q8<cr>|Outside limits|More details coming soon
  |ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting
--|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
++|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maxiumum duty and still cannot move (i.e.: stalled)
--====== __27. Query Voltage (**QV**)__ ======
++__27. Query Voltage (**QV**)__
  Ex: #5QV<cr> might return *5QV11200<cr>
  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).
--====== __28. Query Temperature (**QT**)__ ======
++__28. Query Temperature (**QT**)__
  Ex: #5QT<cr> might return *5QT564<cr>
  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.
--====== __29. Query Current (**QC**)__ ======
++__29. Query Current (**QC**)__
  Ex: #5QC<cr> might return *5QC140<cr>
  The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
--====== __30. RC Mode (**CRC**)__ ======
++__30. RC Mode (**CRC**)__
  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.
@@ -602,13
          +602,13 @@
  EX: #5CRC<cr>
--====== __31. RESET__ ======
++__31. RESET__
  Ex: #5RESET<cr> or #5RS<cr>
  This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
--====== __32. DEFAULT & CONFIRM__ ======
++__32. DEFAULT & CONFIRM__
  Ex: #5DEFAULT<cr>
@@ -620,7
          +620,7 @@
  Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
--====== __33. UPDATE & CONFIRM__ ======
++__33. UPDATE & CONFIRM__
  Ex: #5UPDATE<cr>

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