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5	5
6	6	= Serial Protocol Concept =
7	7
8		-The Lynxmotion Smart Servo (LSS) serial protocol was created in order to be as simple and straightforward as possible from a user perspective ("human readable"), while at the same time trying to be compact and robust yet highly versatile. The protocol was based on Lynxmotion's SSC-32 RC servo controller and almost everything one might expect to be able to configure for a smart servo motor is available.
	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 serial mode, in order to have servos react differently when commands are sent to all servos in a bus, the first step a user should take is to assign a different ID number to each servo (explained below). Once this has been done, only the servo(s) which have been assigned to the ID sent as part of the command will take action. There is currently no CRC / checksum implemented as part of the protocol.
	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	11
12	12	== Session ==
13	13
14	14	A "session" is defined as the time between when the servo is powered ON to when it is powered OFF or reset.
15	15
	16	+Note that for a given session, the action related to a specific commands overrides the stored value in EEPROM.
	17	+
16	16	== Action Commands ==
17	17
18		-Action commands tell the servo, within that session, to do something (i.e. "take an action"). The type of action commands which can be sent are described below, and they cannot be combined with other commands such as queries or configurations. Only one action command can be sent at a time. Action commands are session-specific, therefore once a servo is power cycled, it will not have any "memory" of previous actions or virtual positions (as described at the bottom of this page). Action commands are sent serially to the servo's Rx pin and must be set in the following format:
	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:
19	19
20	20	1. Start with a number sign # (U+0023)
21	21	1. Servo ID number as an integer
...	...	@@ -26,11 +26,11 @@
26	26	(((
27	27	Ex: #5PD1443<cr>
28	28
29		-This sends a serial command to all servo's Rx pins which are connected to the bus and only servo(s) with ID #5 will move to a position of 144.3 degrees. Any servo in the bus which does not have ID 5 will take no action when they receive this command.
	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.
30	30
31	31	== Action Modifiers ==
32	32
33		-Only two commands can be used as action modifiers: Timed Move (T) and Speed (S). Action modifiers can only be used with certain action commands. The format to include a modifier is:
	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:
34	34
35	35	1. Start with a number sign # (U+0023)
36	36	1. Servo ID number as an integer
...	...	@@ -42,26 +42,12 @@
42	42
43	43	Ex: #5P1456T1263<cr>
44	44
45		-This results in the servo with ID #5 rotating from the current angular position to a pulse position of 1456 in 1263 milliseconds. Position in pulses is described below.
	47	+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.
46	46	)))
47	47
48		-== Configuration Commands ==
49		-
50		-Configuration commands affect a servo's default values which are written to the servo's EEPROM and are retained in memory after the servo loses power or is reset. Some configuration commands affect the session, while others do not (see each command for details). Not all action commands have a corresponding configuration and vice versa. More information about which configuration commands are retained in RC mode can be found on the [[LSS - RC PWM page>>doc:Lynxmotion Smart Servo (LSS).LSS - RC PWM.WebHome]]. Configuration commands are not cumulative, in that if two configurations are sent, one after the next, only the last configuration is used and stored. The format to send a configuration command is identical to that of an action command:
51		-
52		-1. Start with a number sign # (U+0023)
53		-1. Servo ID number as an integer
54		-1. Configuration command (two to three letters, no spaces, capital or lower case)
55		-1. Configuration value in the correct units with no decimal
56		-1. End with a control / carriage return '<cr>'
57		-
58		-Ex: #5CO-50<cr>
59		-
60		-This assigns an absolute origin offset of -5.0 degrees (with respect to factory origin) to servo with ID #5 and changes the offset for that session to -5.0 degrees. Once the servo is powered off and then powered on, zeroing the servo will cause it to move to -5.0 degrees with respect to the factory origin. Configuration commands can be undone / reset either by sending the servo's default value for that configuration, or by doing a factory reset (clears all configurations) described below.
61		-
62	62	== Query Commands ==
63	63
64		-Query commands request information from the servo. They are received via the Rx pin of the servo, and the servo's reply is sent via the servo's Tx pin. This is called "full duplex". Query commands are also similar to action and configuration commands and must use the following format:
	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:
65	65
66	66	1. Start with a number sign # (U+0023)
67	67	1. Servo ID number as an integer
...	...	@@ -81,41 +81,53 @@
81	81	1. The reported value in the units described, no decimals.
82	82	1. End with a control / carriage return '<cr>'
83	83
84		-There is currently no option to control how fast a servo replies after it has received a query command, therefore when sending a query command to the bus, the controller should be prepared to immediately "listen" for and parse the reply. Sending multiple queries on a bus in fast succession may result in replies overlapping and giving incorrect or corrupt data. As such, the controller should receive a reply before sending a new command.
	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:
85	85
86	86	(((
87	87	Ex: *5QD1443<cr>
88	88	)))
89	89
90		-This reply to the query above indicates that servo #5 is currently at 144.3 degrees (1443 tenths of degrees).
	78	+This indicates that servo #5 is currently at 144.3 degrees (1443 tenths of degrees).
91	91
92		-**Session vs Configuration Query**
	80	+== Configuration Commands ==
93	93
94		-By default, the query command returns the sessions' value. Should no action commands have been sent to change the session value, it will return the value saved in EEPROM from the last configuration command.
	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:
95	95
96		-In order to query the value in EEPROM (configuration), 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>'
97	97
98		-Ex: #5CSR20<cr> immediately sets the maximum speed for servo #5 to 20rpm (explained below) .
	90	+Ex: #5CO-50<cr>
99	99
100		-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.
101	101
102		-#5QSR<cr> would return *5QSR4<cr> which represents the value for that session.
	94	+**Session vs Configuration Query**
103	103
	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	+
104	104	#5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
105	105
106	106	== Virtual Angular Position ==
107	107
108		-A "virtual position" is a feature which allows for rotation beyond 360 degrees, permitting multiple rotations of the output horn, moving the center position and more. In virtual position mode, the "absolute position" would be the angle of the output shaft with respect to 360.0 degrees, and can be obtained by taking the modulus (with respect to 360 degrees) of the value. For example if the virtual position is reported as 15335 (or 1533.5 degrees), taking the modulus would give 93.5 degrees (3600 * 4 + 935 = 15335).
	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).
109	109
110	110	[[image:LSS-servo-positions.jpg]]
111	111
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:
	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:
113	113
114	114	#1D-300<cr> This causes the servo to move to -30.0 degrees (green arrow)
115	115
116	116	#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
117	117
118		-#1D-4200<cr> This next command rotates the servo counterclockwise to a position of -420 degrees (red arrow), which means one full rotation of 360 degrees,  stopping at an absolute position of 60.0 degrees (420.0 - 360.0), with a virtual position of -420.0 degrees.
	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.
119	119
120	120	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.
121	121
...	...	@@ -128,65 +128,72 @@
128	128
129	129	= Command List =
130	130
131		-|= #|=Description|= Action|= Query|= Config|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
132		-| 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| L| | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
133		-| 2|[[**H**alt & **H**old>>||anchor="H2.Halt26Hold28H29"]]| H| | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
134		-| 3|[[**T**imed move>>||anchor="H3.Timedmove28T29"]]| T| | | | ✓|milliseconds|(% style="width:510px" %) Modifier only for {P, D, MD}|(% style="text-align:center; width:113px" %)
135		-| 4|[[**S**peed>>||anchor="H4.Speed28S29"]]| S| | | | ✓|microseconds / second|(% style="width:510px" %) Modifier only {P}|(% style="text-align:center; width:113px" %)
136		-| 5|[[**M**ove in **D**egrees (relative)>>||anchor="H5.28Relative29MoveinDegrees28MD29"]]| MD| | | | ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
137		-| 6|[[**O**rigin Offset>>||anchor="H6.OriginOffsetAction28O29"]]| O| QO| CO| ✓| ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
	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	138	0
139	139	)))
140		-| 7|[[**A**ngular **R**ange>>||anchor="H7.AngularRange28AR29"]]| AR| QAR| CAR| ✓| ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
	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	141	1800
142	142	)))
143		-| 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| P| QP| | | ✓|microseconds|(% style="width:510px" %)(((
	143	+| 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| P| QP| | | | ✓|microseconds|(% style="width:510px" %)(((
144	144	Inherited from SSC-32 serial protocol
145	145	)))|(% style="text-align:center; width:113px" %)
146		-| 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD| | | ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
147		-| 10|[[**W**heel mode in **D**egrees>>||anchor="H10.WheelModeinDegrees28WD29"]]| WD| QWD| | | ✓|tenths of degrees per second (ex 248 = 24.8 degrees per second)|(% style="width:510px" %)A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center; width:113px" %)
148		-| 11|[[**W**heel mode in **R**PM>>||anchor="H11.WheelModeinRPM28WR29"]]| WR| QWR| | | ✓| rpm|(% style="width:510px" %)A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center; width:113px" %)
149		-| 12|[[Max **S**peed in **D**egrees>>||anchor="H12.SpeedinDegrees28SD29"]]| SD| QSD|CSD| ✓| ✓|tenths of degrees per second (ex 248 = 24.8 degrees per second)|(% style="width:510px" %)QSD: Add modifier "2" for instantaneous speed|(% style="text-align:center; width:113px" %)Max per servo
150		-| 13|[[Max **S**peed in **R**PM>>||anchor="H13.SpeedinRPM28SR29"]]| SR| QSR|CSR| ✓| ✓|rpm|(% style="width:510px" %)QSR: Add modifier "2" for instantaneous speed|(% style="text-align:center; width:113px" %)Max per servo
151		-| 16|[[**LED** Color>>||anchor="H16.RGBLED28LED29"]]| LED| QLED| CLED| ✓| ✓|none (integer from 0 to 8)|(% style="width:510px" %)0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;|(% style="text-align:center; width:113px" %)7
152		-| 17|[[**ID** #>>||anchor="H17.IdentificationNumber"]]| | QID| CID| | ✓|none (integer from 0 to 250)|(% style="width:510px" %)Note: ID 254 is a "broadcast" which all servos respond to|(% style="text-align:center; width:113px" %)0
153		-| 18|[[**B**aud rate>>||anchor="H18.BaudRate"]]| B| QB| CB| | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)9600
154		-| 19|[[**G**yre direction (**G**)>>||anchor="H19.GyreRotationDirection"]]| G| QG| CG| ✓| ✓|none |(% style="width:510px" %) Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise)|(% style="text-align:center; width:113px" %)1 CW
155		-| 20|[[**F**irst Position (**P**ulse)>>||anchor="H20.First2InitialPosition28pulse29"]]| | QFP|CFP | ✓| ✓|none |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
	146	+| 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD| | | | ✓|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.
	151	+
	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" %)(((
156	156	Limp
157	157	)))
158		-| 21|[[**F**irst Position (**D**egrees)>>||anchor="H21.First2InitialPosition28Degrees29"]]| | QFD|CFD| ✓| ✓|none |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)Limp
159		-| 22|[[**T**arget (**D**egree) **P**osition>>||anchor="H22.QueryTargetPositioninDegrees28QDT29"]]| | QDT| | | ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
160		-| 23|[[**M**odel **S**tring>>||anchor="H23.QueryModelString28QMS29"]]| | QMS| | | |none (string)|(% style="width:510px" %) Recommended to determine the model|(% style="text-align:center; width:113px" %)
161		-| 23b|[[**M**odel>>||anchor="H23b.QueryModel28QM29"]]| | QM| | | |none (integer)|(% style="width:510px" %) Returns a raw value representing the three model inputs (36 bit)|(% style="text-align:center; width:113px" %)
162		-| 24|[[Serial **N**umber>>||anchor="H24.QuerySerialNumber28QN29"]]| | QN| | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
163		-| 25|[[**F**irmware version>>||anchor="H25.QueryFirmware28QF29"]]| | QF| | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
164		-| 26|[[**Q**uery (general status)>>||anchor="H26.QueryStatus28Q29"]]| | Q| | | ✓|none (integer from 1 to 8)|(% style="width:510px" %) See command description for details|(% style="text-align:center; width:113px" %)
165		-| 27|[[**V**oltage>>||anchor="H27.QueryVoltage28QV29"]]| | QV| | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
166		-| 28|[[**T**emperature>>||anchor="H28.QueryTemperature28QT29"]]| | QT| | | ✓|tenths of degrees Celsius|(% style="width:510px" %)Max temp before error: 85°C (servo goes limp)|(% style="text-align:center; width:113px" %)
167		-| 29|[[**C**urrent>>||anchor="H29.QueryCurrent28QC29"]]| | QC| | | ✓|milliamps (ex 200 = 0.2A)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
168		-| 30|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]]| | |CRC| |✓|none|(% style="width:510px" %)(((
169		-CRC: Add modifier "1" for RC-position mode.
170		-CRC: Add modifier "2" for RC-wheel mode.
171		-Any other value for the modifier results in staying in smart mode.
172		-Puts the servo into RC mode. To revert to smart mode, use the button menu.
	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	+| 20|[[**T**arget (**D**eg) **P**osition>>||anchor="H22.QueryTargetPositioninDegrees28QDT29"]]| | QDT| | | | ✓|tenths of degrees (ex 325 = 32.5 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	168	+| 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" %)
	169	+| 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" %)
	170	+| 23|[[**F**irmware version>>||anchor="H25.QueryFirmware28QF29"]]| | QF| | | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	171	+| 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" %)
	172	+| 25|[[**V**oltage>>||anchor="H27.QueryVoltage28QV29"]]| | QV| | | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	173	+| 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" %)
	174	+| 27|[[**C**urrent>>||anchor="H29.QueryCurrent28QC29"]]| | QC| | | | ✓|milliamps (ex 200 = 0.2A)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	175	+| 28|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]] - Position| | |CRC1|✓| | ✓|none|(% style="width:510px" %)(((
	176	+Change to RC position mode. To revert to smart mode, use the button menu.
173	173	)))|(% style="text-align:center; width:113px" %)Serial
174		-|31|[[**RESET**>>||anchor="H31.RESET"]]| | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %)
175		-|32|[[**DEFAULT**>>||anchor="H32.DEFAULTA026CONFIRM"]]| | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %)
176		-|33|[[**UPDATE**>>||anchor="H33.UPDATEA026CONFIRM"]]| | | | |✓|none|(% style="width:510px" %)Update firmware. See command for details.|(% style="text-align:center; width:113px" %)
	178	+| 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
	179	+| 30|[[**RESET**>>||anchor="H31.RESET"]]| | | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %)
	180	+| 31|[[**DEFAULT**>>||anchor="H32.DEFAULTA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %)
	181	+| 32|[[**UPDATE**>>||anchor="H33.UPDATEA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Update firmware. See command for details.|(% style="text-align:center; width:113px" %)
177	177
178		-(% class="wikigeneratedid" %)
179	179	== Advanced ==
180	180
181		-|= #|=Description|= Action|= Query|= Config|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
182		-| 1|[[**A**ngular **S**tiffness>>||anchor="H14.AngularStiffness28AS29"]]| AS| QAS|CAS| ✓| ✓|none|(% style="width:510px" %)-4 to +4, but suggested values are between 0 to +4|(% style="text-align:center; width:113px" %)0
183		-| 2|[[**A**ngular **H**olding Stiffness>>||anchor="H15.AngularHoldStiffness28AH29"]]|AH|QAH|CAH| | ✓|none|(% style="width:510px" %)-10 to +10, with default as 0. |(% style="text-align:center; width:113px" %)1
184		-| 3|[[**A**ngular **A**cceleration>>||anchor="H15b:AngularAcceleration28AA29"]]|AA|QAA|CAA| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared|(% style="text-align:center; width:113px" %)
185		-| 4|[[**A**ngular **D**eceleration>>||anchor="H15c:AngularDeceleration28AD29"]]|AD|QAD|CAD| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared|(% style="text-align:center; width:113px" %)
186		-| 5|[[**E**nable **M**otion control>>||anchor="H15d:MotionControl28MC29"]]|EM|QEM| | | ✓|none|(% style="width:510px" %)EM0 to disable motion control, EM1 to enable. Session specific / does not survive power cycles|(% style="text-align:center; width:113px" %)
187		-| 6|[[**C**onfigure **L**ED **B**linking>>||anchor="H16b.ConfigureLEDBlinking28CLB29"]]| | | CLB| ✓| |none (integer from 0 to 63)|(% style="width:510px" %)0=No blinking, ; 63=Always blink; Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;|(% style="text-align:center; width:113px" %)
188		-| | | | | | | | |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	185	+|= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
	186	+| 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
	187	+| 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
	188	+| 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" %)
	189	+| 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" %)
	190	+| 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" %)
	191	+| A6|[[**C**onfigure **L**ED **B**linking>>||anchor="H16b.ConfigureLEDBlinking28CLB29"]]| | | CLB| | ✓| |none (integer from 0 to 63)|(% style="width:510px" %)(((
	192	+0=No blinking, 63=Always blink;
189	189
	194	+Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;
	195	+)))|(% style="text-align:center; width:113px" %)
	196	+
190	190	== Details ==
191	191
192	192	====== __1. Limp (**L**)__ ======
...	...	@@ -199,17 +199,17 @@
199	199
200	200	Example: #5H<cr>
201	201
202		-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.
	209	+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.
203	203
204		-====== __3. Timed move (**T**)__ ======
	211	+====== __3. Timed move (**T**) modifier__ ======
205	205
206	206	Example: #5P1500T2500<cr>
207	207
208		-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.
	215	+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.
209	209
210	210	Note: If the calculated speed at which a servo must rotate for a timed move is greater than its maximum speed (which depends on voltage and load), then it will move at its maximum speed, and the time of the move may be longer than requested.
211	211
212		-====== __4. Speed (**S**)__ ======
	219	+====== __4. Speed (**S**) modifier__ ======
213	213
214	214	Example: #5P1500S750<cr>
215	215
...	...	@@ -225,11 +225,11 @@
225	225
226	226	Example: #5O2400<cr>
227	227
228		-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).
	235	+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).
229	229
230	230	[[image:LSS-servo-default.jpg]]
231	231
232		-In the second image, the origina, as well as the angular range (explained below) have been shifted by 240.0 degrees:
	239	+In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
233	233
234	234	[[image:LSS-servo-origin.jpg]]
235	235
...	...	@@ -237,33 +237,33 @@
237	237
238	238	Example: #5QO<cr> Returns: *5QO-13
239	239
240		-This allows you to query the angle (in tenths of degrees) of the origin in relation to the factory zero position.
	247	+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.
241	241
242	242	Configure Origin Offset (**CO**)
243	243
244	244	Example: #5CO-24<cr>
245	245
246		-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.
	253	+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.
247	247
248	248	====== __7. Angular Range (**AR**)__ ======
249	249
250	250	Example: #5AR1800<cr>
251	251
252		-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,
	259	+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:
253	253
254	254	[[image:LSS-servo-default.jpg]]
255	255
256		-Here, the angular range has been restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
	263	+Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
257	257
258	258	[[image:LSS-servo-ar.jpg]]
259	259
260		-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:
	267	+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:
261	261
262	262	[[image:LSS-servo-ar-o-1.jpg]]
263	263
264	264	Query Angular Range (**QAR**)
265	265
266		-Example: #5QAR<cr> might return *5AR2756
	273	+Example: #5QAR<cr> might return *5AR1800, indicating the total angular range is 180.0 degrees.
267	267
268	268	Configure Angular Range (**CAR**)
269	269
...	...	@@ -320,22 +320,22 @@
320	320
321	321	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).
322	322
323		-====== __12. Speed in Degrees (**SD**)__ ======
	330	+====== __12. Max Speed in Degrees (**SD**)__ ======
324	324
325	325	Ex: #5SD1800<cr>
326	326
327		-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.
	334	+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.
328	328
329	329	Query Speed in Degrees (**QSD**)
330	330
331	331	Ex: #5QSD<cr> might return *5QSD1800<cr>
332	332
333		-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.
	340	+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.
334	334	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:
335	335
336	336	|**Command sent**|**Returned value (1/10 °)**
337	337	|ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
338		-|ex: #5QSD1<cr>|Configured maximum speed  (set by CSD/CSR)
	345	+|ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
339	339	|ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
340	340	|ex: #5QSD3<cr>|Target travel speed
341	341
...	...	@@ -345,22 +345,22 @@
345	345
346	346	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.
347	347
348		-====== __13. Speed in RPM (**SR**)__ ======
	355	+====== __13. Max Speed in RPM (**SR**)__ ======
349	349
350	350	Ex: #5SD45<cr>
351	351
352		-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.
	359	+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.
353	353
354	354	Query Speed in Degrees (**QSR**)
355	355
356	356	Ex: #5QSR<cr> might return *5QSR45<cr>
357	357
358		-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.
	365	+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.
359	359	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:
360	360
361	361	|**Command sent**|**Returned value (1/10 °)**
362	362	|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
363		-|ex: #5QSR1<cr>|Configured maximum speed  (set by CSD/CSR)
	370	+|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
364	364	|ex: #5QSR2<cr>|Instantaneous speed (same as QWR)
365	365	|ex: #5QSR3<cr>|Target travel speed
366	366
...	...	@@ -368,70 +368,10 @@
368	368
369	369	Ex: #5CSR45<cr>
370	370
371		-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.
	378	+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.
372	372
373		-====== __14. Angular Stiffness (**AS**)__ ======
	380	+====== __14. LED Color (**LED**)__ ======
374	374
375		-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.
376		-
377		-A positive value of "angular stiffness":
378		-
379		-* The more torque will be applied to try to keep the desired position against external input / changes
380		-* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
381		-
382		-A negative value on the other hand:
383		-
384		-* Causes a slower acceleration to the travel speed, and a slower deceleration
385		-* Allows the target position to deviate more from its position before additional torque is applied to bring it back
386		-
387		-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.
388		-
389		-Ex: #5AS-2<cr>
390		-
391		-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.
392		-
393		-Ex: #5QAS<cr>
394		-
395		-Queries the value being used.
396		-
397		-Ex: #5CAS<cr>
398		-
399		-Writes the desired angular stiffness value to memory.
400		-
401		-====== __15. Angular Hold Stiffness (**AH**)__ ======
402		-
403		-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.
404		-
405		-Ex: #5AH3<cr>
406		-
407		-This sets the holding stiffness for servo #5 to 3 for that session.
408		-
409		-Query Angular Hold Stiffness (**QAH**)
410		-
411		-Ex: #5QAH<cr> might return *5QAH3<cr>
412		-
413		-This returns the servo's angular holding stiffness value.
414		-
415		-Configure Angular Hold Stiffness (**CAH**)
416		-
417		-Ex: #5CAH2<cr>
418		-
419		-This writes the angular holding stiffness of servo #5 to 2 to EEPROM
420		-
421		-====== __15b: Angular Acceleration (**AA**)__ ======
422		-
423		-{More details to come}
424		-
425		-====== __15c: Angular Deceleration (**AD**)__ ======
426		-
427		-{More details to come}
428		-
429		-====== __15d: Motion Control (**EM**)__ ======
430		-
431		-{More details to come}
432		-
433		-====== __16. RGB LED (**LED**)__ ======
434		-
435	435	Ex: #5LED3<cr>
436	436
437	437	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.
...	...	@@ -446,79 +446,66 @@
446	446
447	447	Configure LED Color (**CLED**)
448	448
449		-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.
	396	+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.
450	450
451		-====== __16b. Configure LED Blinking (**CLB**)__ ======
	398	+====== __15. Gyre Rotation Direction (**G**)__ ======
452	452
453		-This command allows you to control when the RGB LED will blink the user set color (see [[16. RGB LED>>||anchor="H16.RGBLED28LED29"]] for details).
454		-You can turn on or off blinking for various LSS status. Here is the list and their associated value: 0=No blinking, ; 63=Always blink; Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;
	400	+"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).
455	455
456		-To set blinking, use CLB with the value of your choosing. To activate blinking in multiple status, simply add together the values of the corresponding status. See examples below:
	402	+Ex: #5G-1<cr>
457	457
458		-Ex: #5CLB0<cr> to turn off all blinking (LED always solid)
459		-Ex: #5CLB1<cr> only blink when limp
460		-Ex: #5CLB2<cr> only blink when holding
461		-Ex: #5CLB12<cr> only blink when accel or decel
462		-Ex: #5CLB48<cr> only blink when free or travel
463		-Ex: #5CLB63<cr> blink in all status
	404	+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.
464	464
465		-====== __17. Identification Number__ ======
	406	+Query Gyre Direction (**QG**)
466	466
467		-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.
	408	+Ex: #5QG<cr> might return *5QG-1<cr>
468	468
	410	+The value returned above means the servo is in a counter-clockwise gyration.
	411	+
	412	+Configure Gyre (**CG**)
	413	+
	414	+Ex: #5CG-1<cr>
	415	+
	416	+This changes the gyre direction as described above and also writes to EEPROM.
	417	+
	418	+====== __16. Identification Number (**ID** #)__ ======
	419	+
	420	+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).
	421	+
469	469	Query Identification (**QID**)
470	470
471	471	EX: #254QID<cr> might return *QID5<cr>
472	472
473		-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.
	426	+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.
474	474
475	475	Configure ID (**CID**)
476	476
477	477	Ex: #4CID5<cr>
478	478
479		-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.
	432	+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.
480	480
481		-====== __18. Baud Rate__ ======
	434	+====== __17. Baud Rate (B)__ ======
482	482
483		-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.
484		-\*: 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.
	436	+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.
485	485
486	486	Query Baud Rate (**QB**)
487	487
488	488	Ex: #5QB<cr> might return *5QB9600<cr>
489	489
490		-Querying the baud rate is used simply to confirm the CB configuration command before the servo is power cycled.
	442	+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.
491	491
492	492	Configure Baud Rate (**CB**)
493	493
494		-Important Note: the servo's current session retains the given baud rate and the new baud rate will only be in place when the servo is power cycled.
	446	+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.
495	495
496	496	Ex: #5CB9600<cr>
497	497
498	498	Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
499	499
500		-====== __19. Gyre Rotation Direction__ ======
	452	+====== __18. First Position (Pulse) (**FP**)__ ======
501	501
502		-"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).
	454	+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.
503	503
504		-{images showing before and after with AR and Origin offset}
505		-
506		-Query Gyre Direction (**QG**)
507		-
508		-Ex: #5QG<cr> might return *5QG-1<cr>
509		-
510		-The value returned above means the servo is in a counter-clockwise gyration.
511		-
512		-Configure Gyre (**CG**)
513		-
514		-Ex: #5CG-1<cr>
515		-
516		-This changes the gyre direction as described above and also writes to EEPROM.
517		-
518		-====== __20. First / Initial Position (pulse)__ ======
519		-
520		-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.
521		-
522	522	Query First Position in Pulses (**QFP**)
523	523
524	524	Ex: #5QFP<cr> might return *5QFP1550<cr>
...	...	@@ -529,11 +529,11 @@
529	529
530	530	Ex: #5CP1550<cr>
531	531
532		-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).
	466	+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).
533	533
534		-====== __21. First / Initial Position (Degrees)__ ======
	468	+====== __19. First / Initial Position (Degrees) (**FD**)__ ======
535	535
536		-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.
	470	+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.
537	537
538	538	Query First Position in Degrees (**QFD**)
539	539
...	...	@@ -545,7 +545,7 @@
545	545
546	546	Ex: #5CD64<cr>
547	547
548		-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.
	482	+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.
549	549
550	550	====== __22. Query Target Position in Degrees (**QDT**)__ ======
551	551
...	...	@@ -653,3 +653,77 @@
653	653	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.
654	654
655	655	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