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3	3
4	4	{{toc depth="3"/}}
5	5
6		-= Protocol Concepts =
	6	+= Serial Protocol Concept =
7	7
8		-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 custom Lynxmotion Smart Servo (LSS) serial protocol was created in order to be as simple and straightforward as possible from a user perspective ("human readable format"), while at the same time 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	9
	10	+In order to have servos react differently when commands are sent to all servos in a serial 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 follow that command. There is currently no CRC / checksum implemented as part of the protocol.
	11	+
10	10	== Session ==
11	11
12	12	A "session" is defined as the time between when the servo is powered ON to when it is powered OFF or reset.
13	13
	16	+Note that for a given session, the action related to a specific commands overrides the stored value in EEPROM.
	17	+
14	14	== Action Commands ==
15	15
16		-Action commands are sent serially to the servo's Rx pin and must be set in the following format:
	20	+Action commands tell the servo, within that session, to do something (i.e. "take an action"). The types 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 (described below on this page). Action commands are sent serially to the servo's Rx pin and must be sent in the following format:
17	17
18	18	1. Start with a number sign # (U+0023)
19	19	1. Servo ID number as an integer
...	...	@@ -24,15 +24,11 @@
24	24	(((
25	25	Ex: #5PD1443<cr>
26	26
27		-Move servo with ID #5 to a position of 144.3 degrees.
	31	+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 in tenths of degrees ("PD") of 144.3 degrees. Any servo on the bus which does not have ID 5 will take no action when receiving this command.
28	28
29		-Action commands cannot be combined with query commands, and only one action command can be sent at a time.
30		-
31		-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).
32		-
33	33	== Action Modifiers ==
34	34
35		-Two commands can be used as action modifiers only: Timed Move and Speed. The format is:
	35	+Only two commands can be used as action modifiers: Timed Move (T) and Speed (S) described below. Action modifiers can only be used with certain action commands. The format to include a modifier is:
36	36
37	37	1. Start with a number sign # (U+0023)
38	38	1. Servo ID number as an integer
...	...	@@ -44,32 +44,12 @@
44	44
45	45	Ex: #5P1456T1263<cr>
46	46
47		-Results in the servo rotating from the current angular position to a pulse position of 1456 in 1263 milliseconds.
48		-
49		-Action modifiers can only be used with certain commands.
	47	+This results in the servo with ID #5 rotating from the current angular position to a pulse position ("P") of 1456 in a time ("T") of 1263 milliseconds.
50	50	)))
51	51
52		-== Configuration Commands ==
53		-
54		-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:Lynxmotion Smart Servo (LSS).LSS - RC PWM.WebHome]].
55		-
56		-1. Start with a number sign # (U+0023)
57		-1. Servo ID number as an integer
58		-1. Configuration command (two to three letters, no spaces, capital or lower case)
59		-1. Configuration value in the correct units with no decimal
60		-1. End with a control / carriage return '<cr>'
61		-
62		-Ex: #5CO-50<cr>
63		-
64		-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.
65		-
66		-Configuration commands are not cumulative, in that if two configurations are sent at any time, only the last configuration is used and stored.
67		-
68		-*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.
69		-
70	70	== Query Commands ==
71	71
72		-Query commands are sent serially to the servo's Rx pin and must be set in the following format:
	52	+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. Using separate lines for Tx and Rx is called "full duplex". Query commands are also similar to action and configuration commands and must use the following format:
73	73
74	74	1. Start with a number sign # (U+0023)
75	75	1. Servo ID number as an integer
...	...	@@ -81,49 +81,61 @@
81	81	)))
82	82
83	83	(((
84		-The query will return a value via the Tx pin with the following format:
	64	+The query will return a serial string (almost instantaneously) via the servo's Tx pin with the following format:
85	85
86		-1. Start with an asterisk (U+002A)
	66	+1. Start with an asterisk * (U+002A)
87	87	1. Servo ID number as an integer
88	88	1. Query command (one to three letters, no spaces, capital letters)
89	89	1. The reported value in the units described, no decimals.
90	90	1. End with a control / carriage return '<cr>'
91	91
	72	+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. A reply to the query sent above might be:
	73	+
92	92	(((
93	93	Ex: *5QD1443<cr>
94	94	)))
95	95
96		-Indicates that servo #5 is currently at 144.3 degrees.
	78	+This indicates that servo #5 is currently at 144.3 degrees (1443 tenths of degrees).
97	97
98		-**Session vs Configuration Query**
	80	+== Configuration Commands ==
99	99
100		-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.
	82	+Configuration commands and corresponding values affect a servo's defaults which are written to and read from the servo's EEPROM. These configurations are retained in memory after the servo is reset or power is cut / lost. Some configuration commands affect the session, while others do not. In the Command table below, the column "Session" denotes if the configuration command affects the session.. Not all action commands have a corresponding configuration command and vice versa. More information about which configuration commands are retained when 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:
101	101
102		-In order to query the value in EEPROM, add a '1' to the query command.
	84	+1. Start with a number sign # (U+0023)
	85	+1. Servo ID number as an integer
	86	+1. Configuration command (two to three letters, no spaces, capital or lower case)
	87	+1. Configuration value in the correct units with no decimal
	88	+1. End with a control / carriage return '<cr>'
103	103
104		-Ex: #5CSR20<cr> sets the maximum speed for servo #5 to 20rpm upon RESET (explained below).
	90	+Ex: #5CO-50<cr>
105	105
106		-After RESET: #5SR4<cr> sets the session's speed to 4rpm.
	92	+This configures an absolute origin offset ("CO") with respect to factory origin to servo with ID #5 and changes the offset for that session to -5.0 degrees (50 tenths of 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 and report its position as 0 degrees. 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.
107	107
108		-#5QSR<cr> would return *5QSR4<cr> which represents the value for that session.
	94	+**Session vs Configuration Query**
109	109
	96	+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 which will either be the servo's default, or modified with a configuration command. In order to query the value stored in EEPROM (configuration), add a '1' to the query command:
	97	+
	98	+Ex: #5CSR20<cr> immediately sets the maximum speed for servo #5 to 20rpm (explained below) and changes the value in memory.
	99	+
	100	+After RESET, a command of #5SR4<cr> sets the session's speed to 4rpm, but does not change the configuration value in memory. Therefore:
	101	+
	102	+#5QSR<cr> would return *5QSR4<cr> which represents the value for that session, whereas
	103	+
110	110	#5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
111	111
112	112	== Virtual Angular Position ==
113	113
114		-{In progress}
	108	+The ability to store a "virtual angular 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 a 360.0 degree circle, 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) as the absolute position (assuming no origin offset).
115	115
116		-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.
117		-
118	118	[[image:LSS-servo-positions.jpg]]
119	119
120		-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:
121	121
122		-#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)
123	123
124	124	#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
125	125
126		-#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 plus 60.0 degrees (420.0 - 360.0), with a virtual position of -420.0 degrees.
127	127
128	128	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.
129	129
...	...	@@ -136,52 +136,71 @@
136	136
137	137	= Command List =
138	138
139		-|= #|=Description|= Action|= Query|= Config|= RC|= Serial|= Units|= Notes
140		-| 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| L| | | | ✓|none|
141		-| 2|[[**H**alt & Hold>>||anchor="H2.Halt26Hold28H29"]]| H| | | | ✓|none|
142		-| 3|[[**T**imed move>>||anchor="H3.Timedmove28T29"]]| T| | | | ✓|milliseconds| Modifier only (P, D, MD)
143		-| 4|[[**S**peed>>||anchor="H4.Speed28S29"]]| S| | | | ✓|microseconds / second| Modifier only (P)
144		-| 5|[[**M**ove in **D**egrees (relative)>>||anchor="H5.28Relative29MoveinDegrees28MD29"]]| MD| | | | ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
145		-| 6|[[**O**rigin Offset>>||anchor="H6.OriginOffsetAction28O29"]]| O| QO| CO| ✓| ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
146		-| 7|[[**A**ngular **R**ange>>||anchor="H7.AngularRange28AR29"]]| AR| QAR| CAR| ✓| ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
147		-| 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| P| QP| | | ✓|microseconds|(((
148		-See details below
	131	+|= #|=Description|= Action|= Query|= Config|=Session|= 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 per 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)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	137	+| 6|[[**O**rigin Offset>>||anchor="H6.OriginOffsetAction28O29"]]| O| QO|CO|✓| ✓| ✓|tenths of degrees (ex 91 = 9.1 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
	138	+0
149	149	)))
150		-| 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD| | | ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
151		-| 10|[[**W**heel mode in **D**egrees>>||anchor="H10.WheelModeinDegrees28WD29"]]| WD| QWD| | | ✓|tenths of degrees per second (ex 248 = 24.8 degrees per second)|A.K.A. "Speed mode" or "Continuous rotation"
152		-| 11|[[**W**heel mode in **R**PM>>||anchor="H11.WheelModeinRPM28WR29"]]| WR| QWR| | | ✓| rpm|A.K.A. "Speed mode" or "Continuous rotation"
153		-| 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
154		-| 13|[[Max **S**peed in **R**PM>>||anchor="H13.SpeedinRPM28SR29"]]| SR| QSR| CSR| ✓| ✓|rpm|QSR: Add modifier "2" for instantaneous speed
155		-| 14|[[**A**ngular **S**tiffness>>||anchor="H14.AngularStiffness28AS29"]]| AS| QAS| CAS| ✓| ✓|none|-4 to +4, but suggested values are between 0 to +4
156		-| 15|[[**A**ngular **H**olding Stiffness>>||anchor="H15.AngularHoldStiffness28AH29"]]|AH|QAH|CAH| | ✓|none|-10 to +10, with default as 0.
157		-|15b|[[**A**ngular **A**cceleration>>||anchor="H15b:AngularAcceleration28AA29"]]|AA|QAA|CAA| | ✓|degrees per second squared|Increments of 10 degrees per second squared
158		-|15c|[[**A**ngular **D**eceleration>>||anchor="H15c:AngularDeceleration28AD29"]]|AD|QAD|CAD| | ✓|degrees per second squared|Increments of 10 degrees per second squared
159		-|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
160		-| 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
161		-| 17|[[**ID** #>>||anchor="H17.IdentificationNumber"]]| | QID| CID| | ✓|none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to
162		-| 18|[[**B**aud rate>>||anchor="H18.BaudRate"]]| B| QB| CB| | ✓|none (integer)|
163		-| 19|[[**G**yre direction (**G**)>>||anchor="H19.GyreRotationDirection"]]| G| QG| CG| ✓| ✓|none | Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise)
164		-| 20|[[**F**irst Position (**P**ulse)>>||anchor="H20.First2InitialPosition28pulse29"]]| | QFP|CFP | ✓| ✓|none |
165		-| 21|[[**F**irst Position (**D**egrees)>>||anchor="H21.First2InitialPosition28Degrees29"]]| | QFD|CFD| ✓| ✓|none |
166		-| 22|[[**T**arget (**D**egree) **P**osition>>||anchor="H22.QueryTargetPositioninDegrees28QDT29"]]| | QDT| | | ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
167		-| 23|[[**M**odel **S**tring>>||anchor="H23.QueryModelString28QMS29"]]| | QMS| | | |none (string)| Recommended to determine the model|
168		-| 23b|[[**M**odel>>||anchor="H23b.QueryModel28QM29"]]| | QM| | | |none (integer)| Returns a raw value representing the three model inputs (36 bit)|
169		-| 24|[[Serial **N**umber>>||anchor="H24.QuerySerialNumber28QN29"]]| | QN| | | |none (integer)|
170		-| 25|[[**F**irmware version>>||anchor="H25.QueryFirmware28QF29"]]| | QF| | | |none (integer)|
171		-| 26|[[**Q**uery (general status)>>||anchor="H26.QueryStatus28Q29"]]| | Q| | | ✓|none (integer from 1 to 8)| See command description for details
172		-| 27|[[**V**oltage>>||anchor="H27.QueryVoltage28QV29"]]| | QV| | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|
173		-| 28|[[**T**emperature>>||anchor="H28.QueryTemperature28QT29"]]| | QT| | | ✓|tenths of degrees Celsius|Max temp before error: 85°C (servo goes limp)
174		-| 29|[[**C**urrent>>||anchor="H29.QueryCurrent28QC29"]]| | QC| | | ✓|milliamps (ex 200 = 0.2A)|
175		-| 30|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]]| | |CRC| |✓|none|(((
176		-CRC: Add modifier "1" for RC-position mode.
177		-CRC: Add modifier "2" for RC-wheel mode.
178		-Any other value for the modifier results in staying in smart mode.
179		-Puts the servo into RC mode. To revert to smart mode, use the button menu.
	140	+| 7|[[**A**ngular **R**ange>>||anchor="H7.AngularRange28AR29"]]| AR| QAR| CAR|✓| ✓| ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
	141	+1800
180	180	)))
181		-|31|[[**RESET**>>||anchor="H31.RESET"]]| | | | | ✓|none|Soft reset. See command for details.
182		-|32|[[**DEFAULT**>>||anchor="H32.DEFAULTA026CONFIRM"]]| | | | |✓|none|Revert to firmware default values. See command for details
183		-|33|[[**UPDATE**>>||anchor="H33.UPDATEA026CONFIRM"]]| | | | |✓|none|Update firmware. See command for details.
	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 / QDT| | | | ✓|tenths of 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| | | | ✓|revolutions per minute (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 |(% style="width:510px" %)(((
	150	+QSD: Add modifier "2" for instantaneous speed.
184	184
	152	+SD overwrites SR / CSD overwrites CSR and vice-versa.
	153	+)))|(% style="text-align:center; width:113px" %)Max per servo
	154	+| 13|[[Max **S**peed in **R**PM>>||anchor="H13.SpeedinRPM28SR29"]]| SR| QSR|CSR|✓| ✓| ✓|revolutions per minute (rpm)|(% style="width:510px" %)(((
	155	+QSR: Add modifier "2" for instantaneous speed
	156	+
	157	+SR overwrites SD / CSR overwrites CSD and vice-versa.
	158	+)))|(% style="text-align:center; width:113px" %)Max per servo
	159	+| 14|[[**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
	160	+| 15|[[**G**yre direction (**G**)>>||anchor="H19.GyreRotationDirection"]]| G| QG| CG|✓| ✓| ✓|none |(% style="width:510px" %)Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)|(% style="text-align:center; width:113px" %)1
	161	+| 16|[[**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
	162	+| 17|[[**B**aud rate>>||anchor="H18.BaudRate"]]| | QB| CB| | | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)9600
	163	+| 18|[[**F**irst Position (**P**ulse)>>||anchor="H20.First2InitialPosition28pulse29"]]| | QFP|CFP |X| ✓| ✓|none |(% style="width:510px" %)CFP overwrites CFD and vice-versa|(% style="text-align:center; width:113px" %)(((
	164	+Limp
	165	+)))
	166	+| 19|[[**F**irst Position (**D**eg)>>||anchor="H21.First2InitialPosition28Degrees29"]]| | QFD|CFD|X| ✓| ✓|none |(% style="width:510px" %)CFD overwrites CFP and vice-versa|(% style="text-align:center; width:113px" %)Limp
	167	+| 21|[[**M**odel **S**tring>>||anchor="H23.QueryModelString28QMS29"]]| | QMS| | | | |none (string)|(% style="width:510px" %) Returns the type of servo (ST, HS, HT)|(% style="text-align:center; width:113px" %)
	168	+| 22|[[Serial **N**umber>>||anchor="H24.QuerySerialNumber28QN29"]]| | QN| | | | |none (integer)|(% style="width:510px" %) Returns the unique serial number for that servo|(% style="text-align:center; width:113px" %)
	169	+| 23|[[**F**irmware version>>||anchor="H25.QueryFirmware28QF29"]]| | QF| | | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	170	+| 24|[[**Q**uery (gen. 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" %)
	171	+| 25|[[**V**oltage>>||anchor="H27.QueryVoltage28QV29"]]| | QV| | | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	172	+| 26|[[**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" %)
	173	+| 27|[[**C**urrent>>||anchor="H29.QueryCurrent28QC29"]]| | QC| | | | ✓|milliamps (ex 200 = 0.2A)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	174	+| 28|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]] - Position| | |CRC1|✓| | ✓|none|(% style="width:510px" %)(((
	175	+Change to RC position mode. To revert to smart mode, use the button menu.
	176	+)))|(% style="text-align:center; width:113px" %)Serial
	177	+| 29|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]] - Wheel| | |CRC2|✓| | ✓| |(% style="width:510px" %)Change to RC wheel mode. To revert to smart mode, use the button menu.|(% style="text-align:center; width:113px" %)Serial
	178	+| 30|[[**RESET**>>||anchor="H31.RESET"]]| | | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %)
	179	+| 31|[[**DEFAULT**>>||anchor="H32.DEFAULTA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %)
	180	+| 32|[[**UPDATE**>>||anchor="H33.UPDATEA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Update firmware. See command for details.|(% style="text-align:center; width:113px" %)
	181	+
	182	+== Advanced ==
	183	+
	184	+|= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
	185	+| A1|[[**A**ngular **S**tiffness>>||anchor="H14.AngularStiffness28AS29"]]| AS|QAS|CAS|✓| ✓| ✓|none (integer -4 to +4)|(% style="width:510px" %)Suggested values are between 0 to +4|(% style="text-align:center; width:113px" %)0
	186	+| A2|[[**A**ngular **H**olding Stiffness>>||anchor="H15.AngularHoldStiffness28AH29"]]|AH|QAH|CAH|✓| | ✓|none (integer -10 to +10)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)1
	187	+| A3|[[**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" %)
	188	+| A4|[[**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" %)
	189	+| A5|[[**E**nable **M**otion Control>>||anchor="H15d:MotionControl28MC29"]]|EM|QEM| | | | ✓|none|(% style="width:510px" %)EM0 to disable motion control, EM1 to enable|(% style="text-align:center; width:113px" %)
	190	+| A6|[[**C**onfigure **L**ED **B**linking>>||anchor="H16b.ConfigureLEDBlinking28CLB29"]]| | | CLB| | ✓| |none (integer from 0 to 63)|(% style="width:510px" %)(((
	191	+0=No blinking, 63=Always blink;
	192	+
	193	+Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;
	194	+)))|(% style="text-align:center; width:113px" %)
	195	+
185	185	== Details ==
186	186
187	187	====== __1. Limp (**L**)__ ======
...	...	@@ -194,17 +194,17 @@
194	194
195	195	Example: #5H<cr>
196	196
197		-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.
	208	+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 angular position.
198	198
199		-====== __3. Timed move (**T**)__ ======
	210	+====== __3. Timed move (**T**) modifier__ ======
200	200
201	201	Example: #5P1500T2500<cr>
202	202
203		-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.
	214	+Timed move can be used only as a modifier for a position (P, D, MD) actions. 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. The onboard controller will attempt to ensure that the move is performed entirely at the desired velocity, though differences in torque may cause it to not be exact. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.
204	204
205	205	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.
206	206
207		-====== __4. Speed (**S**)__ ======
	218	+====== __4. Speed (**S**) modifier__ ======
208	208
209	209	Example: #5P1500S750<cr>
210	210
...	...	@@ -220,11 +220,11 @@
220	220
221	221	Example: #5O2400<cr>
222	222
223		-This command allows you to temporarily change the origin of the servo in relation to the factory zero position. The setting will be lost upon servo reset / power cycle. Origin offset commands are not cumulative and always relate to factory zero. Note that for a given session, the O command overrides the CO command. In the first image, the origin at factory offset '0' (centered).
	234	+This command allows you to temporarily change the origin of the servo in relation to the factory zero position for that session. As with all action commands, the setting will be lost upon servo reset / power cycle. Origin offset commands are not cumulative and always relate to factory zero. In the first image, the origin at factory offset '0' (centered).
224	224
225	225	[[image:LSS-servo-default.jpg]]
226	226
227		-In the second image, the origina, as well as the angular range (explained below) have been shifted by 240.0 degrees:
	238	+In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
228	228
229	229	[[image:LSS-servo-origin.jpg]]
230	230
...	...	@@ -232,33 +232,33 @@
232	232
233	233	Example: #5QO<cr> Returns: *5QO-13
234	234
235		-This allows you to query the angle (in tenths of degrees) of the origin in relation to the factory zero position.
	246	+This allows you to query the angle (in tenths of degrees) of the origin in relation to the factory zero position. In this example, the new origin is at -1.3 degrees from the factory zero.
236	236
237	237	Configure Origin Offset (**CO**)
238	238
239	239	Example: #5CO-24<cr>
240	240
241		-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.
	252	+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. In the example, the new origin will be at -2.4 degrees from the factory zero.
242	242
243	243	====== __7. Angular Range (**AR**)__ ======
244	244
245	245	Example: #5AR1800<cr>
246	246
247		-This command allows you to temporarily change the total angular range of the servo in tenths of degrees. This applies to the Position in Pulse (P) command and RC mode. The default for (P) and RC mode is 1800 (180.0 degrees total, or ±90.0 degrees). In the first image,
	258	+This command allows you to temporarily change the total angular range of the servo in tenths of degrees. This applies to the Position in Pulse (P) command and RC mode. The default for (P) and RC mode is 1800 (180.0 degrees total, or ±90.0 degrees). The image below shows a standard -180.0 to +180.0 range, with no offset:
248	248
249	249	[[image:LSS-servo-default.jpg]]
250	250
251		-Here, the angular range has been restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
	262	+Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
252	252
253	253	[[image:LSS-servo-ar.jpg]]
254	254
255		-The angular range action command (ex. #5AR1800<cr>) and origin offset action command (ex. #5O-1200<cr>) an be used to move both the center and limit the angular range:
	266	+Finally, the angular range action command (ex. #5AR1800<cr>) and origin offset action command (ex. #5O-1200<cr>) are used to move both the center and limit the angular range:
256	256
257	257	[[image:LSS-servo-ar-o-1.jpg]]
258	258
259	259	Query Angular Range (**QAR**)
260	260
261		-Example: #5QAR<cr> might return *5AR2756
	272	+Example: #5QAR<cr> might return *5AR1800, indicating the total angular range is 180.0 degrees.
262	262
263	263	Configure Angular Range (**CAR**)
264	264
...	...	@@ -291,6 +291,13 @@
291	291
292	292	This means the servo is located at 13.2 degrees.
293	293
	305	+(% class="wikigeneratedid" id="H22.QueryTargetPositioninDegrees28QDT29" %)
	306	+Query Target Position in Degrees (**QDT**)
	307	+
	308	+Ex: #5QDT<cr> might return *5QDT6783<cr>
	309	+
	310	+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>).
	311	+
294	294	====== __10. Wheel Mode in Degrees (**WD**)__ ======
295	295
296	296	Ex: #5WD900<cr>
...	...	@@ -315,22 +315,22 @@
315	315
316	316	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).
317	317
318		-====== __12. Speed in Degrees (**SD**)__ ======
	336	+====== __12. Max Speed in Degrees (**SD**)__ ======
319	319
320	320	Ex: #5SD1800<cr>
321	321
322		-This command sets the servo's maximum speed for action commands in tenths of degrees per second for that session. In the example above, the servo's maximum speed for that session would be set to 180.0 degrees per second. Therefore maximum speed for actions can be set "on the fly". The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SD overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD and SR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) is what the servo uses for that session.
	340	+This command sets the servo's maximum speed for motion commands in tenths of degrees per second for that session. In the example above, the servo's maximum speed for that session would be set to 180.0 degrees per second. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. The SD action command overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD and SR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.
323	323
324	324	Query Speed in Degrees (**QSD**)
325	325
326	326	Ex: #5QSD<cr> might return *5QSD1800<cr>
327	327
328		-By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever a SD/SR command is processed.
	346	+By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever an SD/SR command is processed.
329	329	If #5QSD1<cr> is sent, the configured maximum speed (CSD value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
330	330
331	331	|**Command sent**|**Returned value (1/10 °)**
332	332	|ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
333		-|ex: #5QSD1<cr>|Configured maximum speed  (set by CSD/CSR)
	351	+|ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
334	334	|ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
335	335	|ex: #5QSD3<cr>|Target travel speed
336	336
...	...	@@ -340,22 +340,22 @@
340	340
341	341	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.
342	342
343		-====== __13. Speed in RPM (**SR**)__ ======
	361	+====== __13. Max Speed in RPM (**SR**)__ ======
344	344
345	345	Ex: #5SD45<cr>
346	346
347		-This command sets the servo's maximum speed for action commands in rpm for that session. In the example above, the servo's maximum speed for that session would be set to 45rpm. Therefore maximum speed for actions can be set "on the fly". The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SD overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) is what the servo uses for that session.
	365	+This command sets the servo's maximum speed for motion commands in rpm for that session. In the example above, the servo's maximum speed for that session would be set to 45rpm. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SD overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.
348	348
349	349	Query Speed in Degrees (**QSR**)
350	350
351	351	Ex: #5QSR<cr> might return *5QSR45<cr>
352	352
353		-By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever a SD/SR command is processed.
	371	+By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever an SD/SR command is processed.
354	354	If #5QSR1<cr> is sent, the configured maximum speed (CSR value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
355	355
356	356	|**Command sent**|**Returned value (1/10 °)**
357	357	|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
358		-|ex: #5QSR1<cr>|Configured maximum speed  (set by CSD/CSR)
	376	+|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
359	359	|ex: #5QSR2<cr>|Instantaneous speed (same as QWR)
360	360	|ex: #5QSR3<cr>|Target travel speed
361	361
...	...	@@ -363,141 +363,84 @@
363	363
364	364	Ex: #5CSR45<cr>
365	365
366		-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.
	384	+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) received is what the servo uses for that session.
367	367
368		-====== __14. Angular Stiffness (**AS**)__ ======
	386	+====== __14. LED Color (**LED**)__ ======
369	369
370		-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.
	388	+Ex: #5LED3<cr>
371	371
372		-A positive value of "angular stiffness":
	390	+This action sets the servo's RGB LED color for that session.The LED can be used for aesthetics, or (based on user code) to provide visual status updates. Using timing can create patterns.
373	373
374		-* The more torque will be applied to try to keep the desired position against external input / changes
375		-* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
	392	+0=OFF 1=RED 2=GREEN 3= BLUE 4=YELLOW 5=CYAN 6= 7=MAGENTA, 8=WHITE
376	376
377		-A negative value on the other hand:
	394	+Query LED Color (**QLED**)
378	378
379		-* Causes a slower acceleration to the travel speed, and a slower deceleration
380		-* Allows the target position to deviate more from its position before additional torque is applied to bring it back
	396	+Ex: #5QLED<cr> might return *5QLED5<cr>
381	381
382		-The default value is zero and the effect becomes extreme by -4, +4. There are no units, only integers between -4 to 4. Greater values produce increasingly erratic behavior.
	398	+This simple query returns the indicated servo's LED color.
383	383
384		-Ex: #5AS-2<cr>
	400	+Configure LED Color (**CLED**)
385	385
386		-This reduces the angular stiffness to -2 for that session, allowing the servo to deviate more around the desired position. This can be beneficial in many situations such as impacts (legged robots) where more of a "spring" effect is desired. Upon reset, the servo will use the value stored in memory, based on the last configuration command.
	402	+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.
387	387
388		-Ex: #5QAS<cr>
	404	+====== __15. Gyre Rotation Direction (**G**)__ ======
389	389
390		-Queries the value being used.
	406	+"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).
391	391
392		-Ex: #5CAS<cr>
	408	+Ex: #5G-1<cr>
393	393
394		-Writes the desired angular stiffness value to memory.
	410	+This command will cause servo #5's positions to be inverted, effectively causing the servo to rotate in the opposite direction given the same command. For example in a 2WD robot, servos are often physically installed back to back, therefore setting one of the servos to a negative gyration, the same wheel command (ex WR30) to both servos will cause the robot to move forward or backward rather than rotate.
395	395
396		-====== __15. Angular Hold Stiffness (**AH**)__ ======
	412	+Query Gyre Direction (**QG**)
397	397
398		-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.
	414	+Ex: #5QG<cr> might return *5QG-1<cr>
399	399
400		-Ex: #5AH3<cr>
	416	+The value returned above means the servo is in a counter-clockwise gyration.
401	401
402		-This sets the holding stiffness for servo #5 to 3 for that session.
	418	+Configure Gyre (**CG**)
403	403
404		-Query Angular Hold Stiffness (**QAH**)
	420	+Ex: #5CG-1<cr>
405	405
406		-Ex: #5QAH<cr> might return *5QAH3<cr>
	422	+This changes the gyre direction as described above and also writes to EEPROM.
407	407
408		-This returns the servo's angular holding stiffness value.
	424	+====== __16. Identification Number (**ID** #)__ ======
409	409
410		-Configure Angular Hold Stiffness (**CAH**)
	426	+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 (assuming same baud rate).
411	411
412		-Ex: #5CAH2<cr>
413		-
414		-This writes the angular holding stiffness of servo #5 to 2 to EEPROM
415		-
416		-====== __15b: Angular Acceleration (**AA**)__ ======
417		-
418		-{More details to come}
419		-
420		-====== __15c: Angular Deceleration (**AD**)__ ======
421		-
422		-{More details to come}
423		-
424		-====== __15d: Motion Control (**EM**)__ ======
425		-
426		-{More details to come}
427		-
428		-====== __16. RGB LED (**LED**)__ ======
429		-
430		-Ex: #5LED3<cr>
431		-
432		-This action sets the servo's RGB LED color for that session.The LED can be used for aesthetics, or (based on user code) to provide visual status updates. Using timing can create patterns.
433		-
434		-0=OFF 1=RED 2=GREEN 3= BLUE 4=YELLOW 5=CYAN 6= 7=MAGENTA, 8=WHITE
435		-
436		-Query LED Color (**QLED**)
437		-
438		-Ex: #5QLED<cr> might return *5QLED5<cr>
439		-
440		-This simple query returns the indicated servo's LED color.
441		-
442		-Configure LED Color (**CLED**)
443		-
444		-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.
445		-
446		-====== __17. Identification Number__ ======
447		-
448		-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.
449		-
450	450	Query Identification (**QID**)
451	451
452	452	EX: #254QID<cr> might return *QID5<cr>
453	453
454		-When using the query ID command, it is best to only have one servo connected and thus receive only one reply using the broadcast command (ID 254). Alternatively, pushing the button upon startup and temporarily setting the servo ID to 255 will still result in the servo responding with its "real" ID.
	432	+When using the query ID command, it is best to only have one servo connected and thus receive only one reply. This is useful when you are not sure of the servo's ID, but don't want to change it. Using the broadcast command (ID 254) with only one servo will have that servo reply with its ID number (assuming the query is sent . Alternatively, pushing the button upon startup and temporarily setting the servo ID to 255 will still result in the servo responding with its "real" ID.
455	455
456	456	Configure ID (**CID**)
457	457
458	458	Ex: #4CID5<cr>
459	459
460		-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.
	438	+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. The servo must be RESET or power cycled in order for the new ID to take effect.
461	461
462		-====== __18. Baud Rate__ ======
	440	+====== __17. Baud Rate (B)__ ======
463	463
464		-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.
465		-\*: 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.
	442	+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 a 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: 9600 bps, 19200 bps, 38400 bps, 57600 bps, 115.2 kbps, 230.4 kbps, 250.0 kbps, 460.8 kbps, 500.0 kbps. Servos are shipped with a baud rate set to 9600. The baud rates are currently restricted to those above.
466	466
467	467	Query Baud Rate (**QB**)
468	468
469	469	Ex: #5QB<cr> might return *5QB9600<cr>
470	470
471		-Querying the baud rate is used simply to confirm the CB configuration command before the servo is power cycled.
	448	+Since the command to query the baud rate must be done at the servo's existing baud rate, it can simply be used to confirm the CB configuration command was correctly received before the servo is power cycled and the new baud rate takes effect.
472	472
473	473	Configure Baud Rate (**CB**)
474	474
	452	+Important Note: the servo's current session retains the given baud rate and the new baud rate will only take effect when the servo is power cycled / RESET.
	453	+
475	475	Ex: #5CB9600<cr>
476	476
477	477	Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
478	478
479		-====== __19. Gyre Rotation Direction__ ======
	458	+====== __18. First Position (Pulse) (**FP**)__ ======
480	480
481		-"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).
	460	+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" (a.k.a. "initial 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.
482	482
483		-{images showing before and after with AR and Origin offset}
484		-
485		-Query Gyre Direction (**QG**)
486		-
487		-Ex: #5QG<cr> might return *5QG-1<cr>
488		-
489		-The value returned above means the servo is in a counter-clockwise gyration.
490		-
491		-Configure Gyre (**CG**)
492		-
493		-Ex: #5CG-1<cr>
494		-
495		-This changes the gyre direction as described above and also writes to EEPROM.
496		-
497		-====== __20. First / Initial Position (pulse)__ ======
498		-
499		-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.
500		-
501	501	Query First Position in Pulses (**QFP**)
502	502
503	503	Ex: #5QFP<cr> might return *5QFP1550<cr>
...	...	@@ -508,11 +508,11 @@
508	508
509	509	Ex: #5CP1550<cr>
510	510
511		-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).
	472	+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 (Ex. #5CFP<cr>) results in the servo remaining limp upon power up (i.e. disabled).
512	512
513		-====== __21. First / Initial Position (Degrees)__ ======
	474	+====== __19. First / Initial Position (Degrees) (**FD**)__ ======
514	514
515		-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.
	476	+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" (a.k.a. "initial 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.
516	516
517	517	Query First Position in Degrees (**QFD**)
518	518
...	...	@@ -524,14 +524,8 @@
524	524
525	525	Ex: #5CD64<cr>
526	526
527		-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.
	488	+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 (Ex. #5CFD<cr>) results in the servo remaining limp upon power up.
528	528
529		-====== __22. Query Target Position in Degrees (**QDT**)__ ======
530		-
531		-Ex: #5QDT<cr> might return *5QDT6783<cr>
532		-
533		-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>).
534		-
535	535	====== __23. Query Model String (**QMS**)__ ======
536	536
537	537	Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
...	...	@@ -632,3 +632,77 @@
632	632	Since it it not common to have to update firmware, a confirmation command is needed after an UPDATE command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will leave the firmware action.
633	633
634	634	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
	590	+
	591	+====== __A1. Angular Stiffness (**AS**)__ ======
	592	+
	593	+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.
	594	+
	595	+A positive value of "angular stiffness":
	596	+
	597	+* The more torque will be applied to try to keep the desired position against external input / changes
	598	+* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
	599	+
	600	+A negative value on the other hand:
	601	+
	602	+* Causes a slower acceleration to the travel speed, and a slower deceleration
	603	+* Allows the target position to deviate more from its position before additional torque is applied to bring it back
	604	+
	605	+The default value is zero and the effect becomes extreme by -4, +4. There are no units, only integers between -4 to 4. Greater values produce increasingly erratic behavior.
	606	+
	607	+Ex: #5AS-2<cr>
	608	+
	609	+This reduces the angular stiffness to -2 for that session, allowing the servo to deviate more around the desired position. This can be beneficial in many situations such as impacts (legged robots) where more of a "spring" effect is desired. Upon reset, the servo will use the value stored in memory, based on the last configuration command.
	610	+
	611	+Ex: #5QAS<cr>
	612	+
	613	+Queries the value being used.
	614	+
	615	+Ex: #5CAS<cr>
	616	+
	617	+Writes the desired angular stiffness value to memory.
	618	+
	619	+====== __A2. Angular Holding Stiffness (**AH**)__ ======
	620	+
	621	+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.
	622	+
	623	+Ex: #5AH3<cr>
	624	+
	625	+This sets the holding stiffness for servo #5 to 3 for that session.
	626	+
	627	+Query Angular Hold Stiffness (**QAH**)
	628	+
	629	+Ex: #5QAH<cr> might return *5QAH3<cr>
	630	+
	631	+This returns the servo's angular holding stiffness value.
	632	+
	633	+Configure Angular Hold Stiffness (**CAH**)
	634	+
	635	+Ex: #5CAH2<cr>
	636	+
	637	+This writes the angular holding stiffness of servo #5 to 2 to EEPROM
	638	+
	639	+====== __A3: Angular Acceleration (**AA**)__ ======
	640	+
	641	+{More details to come}
	642	+
	643	+====== __A4: Angular Deceleration (**AD**)__ ======
	644	+
	645	+{More details to come}
	646	+
	647	+====== __A5: Motion Control (**EM**)__ ======
	648	+
	649	+{More details to come}
	650	+
	651	+====== __A6. Configure LED Blinking (**CLB**)__ ======
	652	+
	653	+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).
	654	+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;
	655	+
	656	+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:
	657	+
	658	+Ex: #5CLB0<cr> to turn off all blinking (LED always solid)
	659	+Ex: #5CLB1<cr> only blink when limp
	660	+Ex: #5CLB2<cr> only blink when holding
	661	+Ex: #5CLB12<cr> only blink when accel or decel
	662	+Ex: #5CLB48<cr> only blink when free or travel
	663	+Ex: #5CLB63<cr> blink in all status

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