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1	1	(% class="wikigeneratedid" id="HTableofContents" %)
2		-**Table of Contents**
	2	+**Page Contents**
3	3
4	4	{{toc depth="3"/}}
5	5
...	...	@@ -79,7 +79,7 @@
79	79
80	80	== Configuration Commands ==
81	81
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 (see each command for details). Not all action commands have a corresponding configuration 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:
	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:
83	83
84	84	1. Start with a number sign # (U+0023)
85	85	1. Servo ID number as an integer
...	...	@@ -128,75 +128,71 @@
128	128
129	129	= Command List =
130	130
131		-|= #|=Description|= Action|= Query|= Config|=(((
132		-Config Affects
	131	+== Regular ==
133	133
134		-Session
135		-)))|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
	133	+|= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
136	136	| 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| L| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
137	137	| 2|[[**H**alt & **H**old>>||anchor="H2.Halt26Hold28H29"]]| H| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
138		-| 3|[[**T**imed move>>||anchor="H3.Timedmove28T29"]]| T| | | | | ✓|milliseconds|(% style="width:510px" %) Modifier only for {P, D, MD}|(% style="text-align:center; width:113px" %)
139		-| 4|[[**S**peed>>||anchor="H4.Speed28S29"]]| S| | | | | ✓|microseconds per second|(% style="width:510px" %) Modifier only {P}|(% style="text-align:center; width:113px" %)
	136	+| 3|[[**T**imed move>>||anchor="H3.Timedmove28T29modifier"]]| T| | | | | ✓|milliseconds|(% style="width:510px" %) Modifier only for {P, D, MD}|(% style="text-align:center; width:113px" %)
	137	+| 4|[[**S**peed>>||anchor="H4.Speed28S29modifier"]]| S| | | | | ✓|microseconds per second|(% style="width:510px" %) Modifier only {P}|(% style="text-align:center; width:113px" %)
140	140	| 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" %)
141		-| 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" %)(((
	139	+| 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" %)(((
142	142	0
143	143	)))
144		-| 7|[[**A**ngular **R**ange>>||anchor="H7.AngularRange28AR29"]]| AR| QAR| CAR| | ✓| ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
	142	+| 7|[[**A**ngular **R**ange>>||anchor="H7.AngularRange28AR29"]]| AR| QAR| CAR|✓| ✓| ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
145	145	1800
146	146	)))
147	147	| 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| P| QP| | | | ✓|microseconds|(% style="width:510px" %)(((
148	148	Inherited from SSC-32 serial protocol
149	149	)))|(% style="text-align:center; width:113px" %)
150		-| 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD| | | | ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	148	+| 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD / QDT| | | | ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
151	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)|(% style="width:510px" %)A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center; width:113px" %)
152	152	| 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" %)
153		-| 12|[[Max **S**peed in **D**egrees>>||anchor="H12.SpeedinDegrees28SD29"]]| SD| QSD|CSD| | ✓| ✓|tenths of degrees per second |(% style="width:510px" %)(((
	151	+| 12|[[Max **S**peed in **D**egrees>>||anchor="H12.MaxSpeedinDegrees28SD29"]]| SD| QSD|CSD|✓| ✓| ✓|degrees per second (°/s)|(% style="width:510px" %)(((
154	154	QSD: Add modifier "2" for instantaneous speed.
155	155
156	156	SD overwrites SR / CSD overwrites CSR and vice-versa.
157	157	)))|(% style="text-align:center; width:113px" %)Max per servo
158		-| 13|[[Max **S**peed in **R**PM>>||anchor="H13.SpeedinRPM28SR29"]]| SR| QSR|CSR| | ✓| ✓|revolutions per minute (rpm)|(% style="width:510px" %)(((
	156	+| 13|[[Max **S**peed in **R**PM>>||anchor="H13.MaxSpeedinRPM28SR29"]]| SR| QSR|CSR|✓| ✓| ✓|revolutions per minute (rpm)|(% style="width:510px" %)(((
159	159	QSR: Add modifier "2" for instantaneous speed
160	160
161	161	SR overwrites SD / CSR overwrites CSD and vice-versa.
162	162	)))|(% style="text-align:center; width:113px" %)Max per servo
163		-| 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
164		-| 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
165		-| 18|[[**B**aud rate>>||anchor="H18.BaudRate"]]| B| QB| CB| | | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)9600
166		-| 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
167		-| 20|[[**F**irst Position (**P**ulse)>>||anchor="H20.First2InitialPosition28pulse29"]]| | QFP|CFP | | ✓| ✓|none |(% style="width:510px" %)CFP overwrites CFD and vice-versa|(% style="text-align:center; width:113px" %)(((
168		-Limp
	161	+| 14|[[**LED** Color>>||anchor="H14.LEDColor28LED29"]]| 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
	162	+| 15|[[**G**yre direction (**G**)>>||anchor="H15.GyreRotationDirection28G29"]]| G| QG| CG|✓| ✓| ✓|none |(% style="width:510px" %)Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)|(% style="text-align:center; width:113px" %)1
	163	+| 16|[[**ID** #>>||anchor="H16.IdentificationNumber28ID29"]]| | 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
	164	+| 17|[[**B**aud rate>>||anchor="H17.BaudRate"]]| | QB| CB| | | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)9600
	165	+| 18|//{coming soon}//| | | | | | | |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
	166	+
169	169	)))
170		-| 21|[[**F**irst Position (**D**egrees)>>||anchor="H21.First2InitialPosition28Degrees29"]]| | QFD|CFD| | ✓| ✓|none |(% style="width:510px" %)CFD overwrites CFP and vice-versa|(% style="text-align:center; width:113px" %)Limp
171		-| 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" %)
172		-| 23|[[**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" %)
173		-| 24|[[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" %)
174		-| 25|[[**F**irmware version>>||anchor="H25.QueryFirmware28QF29"]]| | QF| | | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
175		-| 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" %)
176		-| 27|[[**V**oltage>>||anchor="H27.QueryVoltage28QV29"]]| | QV| | | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
177		-| 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" %)
178		-| 29|[[**C**urrent>>||anchor="H29.QueryCurrent28QC29"]]| | QC| | | | ✓|milliamps (ex 200 = 0.2A)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
179		-| 30a|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]] - Position| | |CRC1| | | ✓|none|(% style="width:510px" %)(((
180		-Puts the servo into RC mode. To revert to smart mode, use the button menu.
	168	+| 19|[[**F**irst Position (**D**eg)>>||anchor="H19.FirstPosition28Degrees2928FD29"]]| | QFD|CFD|X| ✓| ✓|none |(% style="width:510px" %)CFD overwrites CFP and vice-versa|(% style="text-align:center; width:113px" %)Limp
	169	+| 20|[[**M**odel **S**tring>>||anchor="H20.QueryModelString28QMS29"]]| | QMS| | | | |none (string)|(% style="width:510px" %) Returns the type of servo (ST, HS, HT)|(% style="text-align:center; width:113px" %)
	170	+| 21|[[Serial **N**umber>>||anchor="H21.QuerySerialNumber28QN29"]]| | QN| | | | |none (integer)|(% style="width:510px" %) Returns the unique serial number for that servo|(% style="text-align:center; width:113px" %)
	171	+| 22|[[**F**irmware version>>||anchor="H22.QueryFirmware28QF29"]]| | QF| | | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	172	+| 23|[[**Q**uery (gen. status)>>||anchor="H23.QueryStatus28Q29"]]| | Q| | | | ✓|none (integer from 1 to 8)|(% style="width:510px" %) See command description for details|(% style="text-align:center; width:113px" %)
	173	+| 24|[[**V**oltage>>||anchor="H24.QueryVoltage28QV29"]]| | QV| | | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	174	+| 25|[[**T**emperature>>||anchor="H25.QueryTemperature28QT29"]]| | QT| | | | ✓|tenths of degrees Celsius|(% style="width:510px" %)Max temp before error: 85°C (servo goes limp)|(% style="text-align:center; width:113px" %)
	175	+| 26|[[**C**urrent>>||anchor="H26.QueryCurrent28QC29"]]| | QC| | | | ✓|milliamps (ex 200 = 0.2A)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	176	+| 27|[[**C**hange to** RC**>>||anchor="H27.ConfigureRCMode28CRC29"]]| | |CRC|✓| | ✓|none|(% style="width:510px" %)(((
	177	+Change to RC mode 1 (position) or 2 (wheel).
181	181	)))|(% style="text-align:center; width:113px" %)Serial
182		-| 30b|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]] - Wheel| | |CRC2| | | ✓| |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
183		-| 31|[[**RESET**>>||anchor="H31.RESET"]]| | | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %)
184		-| 32|[[**DEFAULT**>>||anchor="H32.DEFAULTA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %)
185		-| 33|[[**UPDATE**>>||anchor="H33.UPDATEA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Update firmware. See command for details.|(% style="text-align:center; width:113px" %)
	179	+| 28|[[**RESET**>>||anchor="H28.RESET"]]| | | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %)
	180	+| 29|[[**DEFAULT**>>||anchor="H29.DEFAULTA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %)
	181	+| 30|[[**UPDATE**>>||anchor="H30.UPDATEA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Update firmware. See command for details.|(% style="text-align:center; width:113px" %)
186	186
187	187	== Advanced ==
188	188
189		-|= #|=Description|= Action|= Query|= Config|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
190		-| 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
191		-| 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
192		-| 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" %)
193		-| 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" %)
194		-| 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" %)
195		-| A6|[[**C**onfigure **L**ED **B**linking>>||anchor="H16b.ConfigureLEDBlinking28CLB29"]]| | | CLB| ✓| |none (integer from 0 to 63)|(% style="width:510px" %)(((
	185	+|= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes
	186	+| A1|[[**A**ngular **S**tiffness>>||anchor="HA1.AngularStiffness28AS29"]]|AS|QAS|CAS|✓| ✓| ✓|none (integer -4 to +4)|(% style="width:510px" %)Suggested values are between 0 to +4
	187	+| A2|[[**A**ngular **H**olding Stiffness>>||anchor="HA2.AngularHoldingStiffness28AH29"]]|AH|QAH|CAH|✓| | ✓|none (integer -10 to +10)|(% style="width:510px" %)Effect is different between serial and RC
	188	+| A3|[[**A**ngular **A**cceleration>>||anchor="HA3:AngularAcceleration28AA29"]]|AA|QAA|CAA|✓| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared
	189	+| A4|[[**A**ngular **D**eceleration>>||anchor="HA4:AngularDeceleration28AD29"]]|AD|QAD|CAD|✓| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared
	190	+| A5|[[**E**nable **M**otion Control>>||anchor="HA5:MotionControl28EM29"]]|EM|QEM| | | | ✓|none|(% style="width:510px" %)EM0 to disable motion control, EM1 to enable
	191	+| A6|[[**C**onfigure **L**ED **B**linking>>||anchor="HA6.ConfigureLEDBlinking28CLB29"]]| | | CLB| | ✓| |none (integer from 0 to 63)|(% style="width:510px" %)(((
196	196	0=No blinking, 63=Always blink;
197	197
198	198	Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;
199		-)))|(% style="text-align:center; width:113px" %)
	195	+)))
200	200
201	201	== Details ==
202	202
...	...	@@ -212,7 +212,7 @@
212	212
213	213	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.
214	214
215		-====== __3. Timed move (**T**)__ ======
	211	+====== __3. Timed move (**T**) modifier__ ======
216	216
217	217	Example: #5P1500T2500<cr>
218	218
...	...	@@ -220,7 +220,7 @@
220	220
221	221	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.
222	222
223		-====== __4. Speed (**S**)__ ======
	219	+====== __4. Speed (**S**) modifier__ ======
224	224
225	225	Example: #5P1500S750<cr>
226	226
...	...	@@ -284,7 +284,7 @@
284	284
285	285	Example: #5P2334<cr>
286	286
287		-The position in PWM pulses was retained in order to be backward compatible with the SSC-32 / 32U protocol. This relates the desired angle with an RC standard PWM pulse and is further explained in the SSC-32 and SSC-32U manuals found on Lynxmotion.com. Without any modifications to configuration considered, and a ±90.0 degrees standard range where 1500 microseconds is centered, a pulse of 2334 would set the servo to 165.1 degrees. Valid values for P are [500, 2500]. Values outside this range are corrected to end points.
	283	+The position in PWM pulses was retained in order to be backward compatible with the SSC-32 / 32U protocol. This relates the desired angle with an RC standard PWM pulse and is further explained in the SSC-32 and SSC-32U manuals found on Lynxmotion.com. Without any modifications to configuration considered, and a ±90.0 degrees standard range where 1500 microseconds is centered, a pulse of 2334 would set the servo to 165.1 degrees. Valid values for P are [500, 2500]. Values outside this range are corrected / restricted to end points.
288	288
289	289	Query Position in Pulse (**QP**)
290	290
...	...	@@ -307,6 +307,13 @@
307	307
308	308	This means the servo is located at 13.2 degrees.
309	309
	306	+(% class="wikigeneratedid" id="H22.QueryTargetPositioninDegrees28QDT29" %)
	307	+Query Target Position in Degrees (**QDT**)
	308	+
	309	+Ex: #5QDT<cr> might return *5QDT6783<cr>
	310	+
	311	+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>).
	312	+
310	310	====== __10. Wheel Mode in Degrees (**WD**)__ ======
311	311
312	312	Ex: #5WD900<cr>
...	...	@@ -331,22 +331,22 @@
331	331
332	332	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).
333	333
334		-====== __12. Speed in Degrees (**SD**)__ ======
	337	+====== __12. Max Speed in Degrees (**SD**)__ ======
335	335
336	336	Ex: #5SD1800<cr>
337	337
338		-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.
	341	+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.
339	339
340	340	Query Speed in Degrees (**QSD**)
341	341
342	342	Ex: #5QSD<cr> might return *5QSD1800<cr>
343	343
344		-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.
	347	+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.
345	345	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:
346	346
347	347	|**Command sent**|**Returned value (1/10 °)**
348	348	|ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
349		-|ex: #5QSD1<cr>|Configured maximum speed  (set by CSD/CSR)
	352	+|ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
350	350	|ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
351	351	|ex: #5QSD3<cr>|Target travel speed
352	352
...	...	@@ -356,22 +356,22 @@
356	356
357	357	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.
358	358
359		-====== __13. Speed in RPM (**SR**)__ ======
	362	+====== __13. Max Speed in RPM (**SR**)__ ======
360	360
361	361	Ex: #5SD45<cr>
362	362
363		-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.
	366	+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.
364	364
365	365	Query Speed in Degrees (**QSR**)
366	366
367	367	Ex: #5QSR<cr> might return *5QSR45<cr>
368	368
369		-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.
	372	+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.
370	370	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:
371	371
372	372	|**Command sent**|**Returned value (1/10 °)**
373	373	|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
374		-|ex: #5QSR1<cr>|Configured maximum speed  (set by CSD/CSR)
	377	+|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
375	375	|ex: #5QSR2<cr>|Instantaneous speed (same as QWR)
376	376	|ex: #5QSR3<cr>|Target travel speed
377	377
...	...	@@ -379,288 +379,319 @@
379	379
380	380	Ex: #5CSR45<cr>
381	381
382		-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.
	385	+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.
383	383
384		-====== __14. Angular Stiffness (**AS**)__ ======
	387	+====== __14. LED Color (**LED**)__ ======
385	385
386		-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.
	389	+Ex: #5LED3<cr>
387	387
388		-A positive value of "angular stiffness":
	391	+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.
389	389
390		-* The more torque will be applied to try to keep the desired position against external input / changes
391		-* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
	393	+0=OFF 1=RED 2=GREEN 3= BLUE 4=YELLOW 5=CYAN 6= 7=MAGENTA, 8=WHITE
392	392
393		-A negative value on the other hand:
	395	+Query LED Color (**QLED**)
394	394
395		-* Causes a slower acceleration to the travel speed, and a slower deceleration
396		-* Allows the target position to deviate more from its position before additional torque is applied to bring it back
	397	+Ex: #5QLED<cr> might return *5QLED5<cr>
397	397
398		-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.
	399	+This simple query returns the indicated servo's LED color.
399	399
400		-Ex: #5AS-2<cr>
	401	+Configure LED Color (**CLED**)
401	401
402		-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.
	403	+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.
403	403
404		-Ex: #5QAS<cr>
	405	+====== __15. Gyre Rotation Direction (**G**)__ ======
405	405
406		-Queries the value being used.
	407	+"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).
407	407
408		-Ex: #5CAS<cr>
	409	+Ex: #5G-1<cr>
409	409
410		-Writes the desired angular stiffness value to memory.
	411	+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.
411	411
412		-====== __15. Angular Hold Stiffness (**AH**)__ ======
	413	+Query Gyre Direction (**QG**)
413	413
414		-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.
	415	+Ex: #5QG<cr> might return *5QG-1<cr>
415	415
416		-Ex: #5AH3<cr>
	417	+The value returned above means the servo is in a counter-clockwise gyration.
417	417
418		-This sets the holding stiffness for servo #5 to 3 for that session.
	419	+Configure Gyre (**CG**)
419	419
420		-Query Angular Hold Stiffness (**QAH**)
	421	+Ex: #5CG-1<cr>
421	421
422		-Ex: #5QAH<cr> might return *5QAH3<cr>
	423	+This changes the gyre direction as described above and also writes to EEPROM.
423	423
424		-This returns the servo's angular holding stiffness value.
	425	+====== __16. Identification Number (**ID**)__ ======
425	425
426		-Configure Angular Hold Stiffness (**CAH**)
	427	+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).
427	427
428		-Ex: #5CAH2<cr>
	429	+Query Identification (**QID**)
429	429
430		-This writes the angular holding stiffness of servo #5 to 2 to EEPROM
	431	+EX: #254QID<cr> might return *QID5<cr>
431	431
432		-====== __15b: Angular Acceleration (**AA**)__ ======
	433	+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.
433	433
434		-{More details to come}
	435	+Configure ID (**CID**)
435	435
436		-====== __15c: Angular Deceleration (**AD**)__ ======
	437	+Ex: #4CID5<cr>
437	437
438		-{More details to come}
	439	+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.
439	439
440		-====== __15d: Motion Control (**EM**)__ ======
	441	+====== __17. Baud Rate__ ======
441	441
442		-{More details to come}
	443	+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.
443	443
444		-====== __16. RGB LED (**LED**)__ ======
	445	+Query Baud Rate (**QB**)
445	445
446		-Ex: #5LED3<cr>
	447	+Ex: #5QB<cr> might return *5QB9600<cr>
447	447
448		-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.
	449	+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.
449	449
450		-0=OFF 1=RED 2=GREEN 3= BLUE 4=YELLOW 5=CYAN 6= 7=MAGENTA, 8=WHITE
	451	+Configure Baud Rate (**CB**)
451	451
452		-Query LED Color (**QLED**)
	453	+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	453
454		-Ex: #5QLED<cr> might return *5QLED5<cr>
	455	+Ex: #5CB9600<cr>
455	455
456		-This simple query returns the indicated servo's LED color.
	457	+Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
457	457
458		-Configure LED Color (**CLED**)
	459	+====== __18. {//Coming soon//}__ ======
459	459
460		-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.
	461	+Command coming soon....
461	461
462		-====== __16b. Configure LED Blinking (**CLB**)__ ======
	463	+====== __19. First Position (Degrees) (**FD**)__ ======
463	463
464		-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).
465		-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;
	465	+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.
466	466
467		-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:
	467	+Query First Position in Degrees (**QFD**)
468	468
469		-Ex: #5CLB0<cr> to turn off all blinking (LED always solid)
470		-Ex: #5CLB1<cr> only blink when limp
471		-Ex: #5CLB2<cr> only blink when holding
472		-Ex: #5CLB12<cr> only blink when accel or decel
473		-Ex: #5CLB48<cr> only blink when free or travel
474		-Ex: #5CLB63<cr> blink in all status
	469	+Ex: #5QFD<cr> might return *5QFD64<cr>
475	475
476		-====== __17. Identification Number__ ======
	471	+The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds.
477	477
478		-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.
	473	+Configure First Position in Degrees (**CFD**)
479	479
480		-Query Identification (**QID**)
	475	+Ex: #5CD64<cr>
481	481
482		-EX: #254QID<cr> might return *QID5<cr>
	477	+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.
483	483
484		-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.
	479	+====== __20. Query Model String (**QMS**)__ ======
485	485
486		-Configure ID (**CID**)
	481	+Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
487	487
488		-Ex: #4CID5<cr>
	483	+This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
489	489
490		-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.
	485	+====== __21. Query Serial Number (**QN**)__ ======
491	491
492		-====== __18. Baud Rate__ ======
	487	+Ex: #5QN<cr> might return *5QN12345678<cr>
493	493
494		-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.
495		-\*: 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.
	489	+The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
496	496
497		-Query Baud Rate (**QB**)
	491	+====== __22. Query Firmware (**QF**)__ ======
498	498
499		-Ex: #5QB<cr> might return *5QB9600<cr>
	493	+Ex: #5QF<cr> might return *5QF411<cr>
500	500
501		-Querying the baud rate is used simply to confirm the CB configuration command before the servo is power cycled.
	495	+The number in the reply represents the firmware version, in this example being 411.
502	502
503		-Configure Baud Rate (**CB**)
	497	+====== __23. Query Status (**Q**)__ ======
504	504
505		-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.
	499	+The status query described what the servo is currently doing. The query returns an integer which must be looked up in the table below. Use the CLB advanced command to have the LED blink for certain statuses.
506	506
507		-Ex: #5CB9600<cr>
	501	+Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
508	508
509		-Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
	503	+|***Value returned (Q)**|**Status**|**Detailed description**
	504	+|ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
	505	+|ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely
	506	+|ex: *5Q2<cr>|2: Free moving|Motor driving circuit is not powered and horn can be moved freely
	507	+|ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
	508	+|ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
	509	+|ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
	510	+|ex: *5Q6<cr>|6: Holding|Keeping current position
	511	+|ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
	512	+|ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
	513	+|ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
	514	+|ex: *5Q10<cr>|10: Safe Mode|(((
	515	+A safety limit has been exceeded (temperature, peak current or extended high current draw).
510	510
511		-====== __19. Gyre Rotation Direction__ ======
	517	+Send a Q1 command to know which limit has been reached (described below).
	518	+)))
512	512
513		-"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).
	520	+(% class="wikigeneratedid" %)
	521	+If a safety limit has been reached and exceeded, the LED will flash red and the servo will stop providing torque (no longer react to commands which cause the motor to rotate). In order to determine which limit has been reached, send a Q1 command. The servo must be RESET in order to return to normal operation, though if a limit is still detected (for example the servo is still too hot), it will revert back to Safe Mode.
514	514
515		-{images showing before and after with AR and Origin offset}
	523	+|***Value returned (Q1)**|**Status**|**Detailed description**
	524	+|ex: *5Q0<cr>|No limits have been passed|Nothing is wrong
	525	+|ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
	526	+|ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
	527	+|ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
516	516
517		-Query Gyre Direction (**QG**)
	529	+====== __24. Query Voltage (**QV**)__ ======
518	518
519		-Ex: #5QG<cr> might return *5QG-1<cr>
	531	+Ex: #5QV<cr> might return *5QV11200<cr>
520	520
521		-The value returned above means the servo is in a counter-clockwise gyration.
	533	+The number returned has one decimal, so in the case above, servo with ID 5 has an input voltage of 11.2V (perhaps a three cell LiPo battery).
522	522
523		-Configure Gyre (**CG**)
	535	+====== __25. Query Temperature (**QT**)__ ======
524	524
525		-Ex: #5CG-1<cr>
	537	+Ex: #5QT<cr> might return *5QT564<cr>
526	526
527		-This changes the gyre direction as described above and also writes to EEPROM.
	539	+The units are in tenths of degrees Celcius, so in the example above, the servo's internal temperature is 56.4 degrees C. To convert from degrees Celcius to degrees Farenheit, multiply by 1.8 and add 32. Therefore 56.4C = 133.52F.
528	528
529		-====== __20. First / Initial Position (pulse)__ ======
	541	+====== __26. Query Current (**QC**)__ ======
530	530
531		-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.
	543	+Ex: #5QC<cr> might return *5QC140<cr>
532	532
533		-Query First Position in Pulses (**QFP**)
	545	+The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
534	534
535		-Ex: #5QFP<cr> might return *5QFP1550<cr>
	547	+====== __27. Configure RC Mode (**CRC**)__ ======
536	536
537		-The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds. If no first position has been set, servo will respond with DIS ("disabled").
	549	+This command puts the servo into RC mode (position or continuous), where it will only respond to RC pulses. Note that because this is the case, the servo will no longer accept serial commands. The servo can be placed back into smart mode by using the button menu.
538	538
539		-Configure First Position in Pulses (**CFP**)
	551	+|**Command sent**|**Note**
	552	+|ex: #5CRC1<cr>|Change to RC position mode.
	553	+|ex: #5CRC2<cr>|Change to RC continuous (wheel) mode.
	554	+|ex: #5CRC*<cr>|Where * is any number or value other than 1 or 2 (or no value): stay in smart mode.
540	540
541		-Ex: #5CP1550<cr>
	556	+EX: #5CRC2<cr>
542	542
543		-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).
	558	+This command would place the servo in RC wheel mode after a RESET or power cycle. Note that after a RESET or power cycle, the servo will be in RC mode and will not reply to serial commands. Using the command #5CRC<cr> or #5CRC3<cr> which requests that the servo remain in serial mode still requires a RESET command.
544	544
545		-====== __21. First / Initial Position (Degrees)__ ======
	560	+Important note:** **To revert from RC mode back to serial mode, the [[LSS - Button Menu>>doc:Lynxmotion Smart Servo (LSS).LSS - Button Menu.WebHome]] is required. Should the button be inaccessible (or broken) when the servo is in RC mode and the user needs to change to serial mode, a 5V constant HIGH needs to be sent to the servo's Rx pin (RC PWM pin), ensuring a common GND and wait for 30 seconds. Normal RC PWM pulses should not exceed 2500 milliseconds. After 30 seconds, the servo will interpret this as a desired mode change and change to serial mode. This has been implemented as a fail safe.
546	546
547		-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.
	562	+====== __28. **RESET**__ ======
548	548
549		-Query First Position in Degrees (**QFD**)
	564	+Ex: #5RESET<cr> or #5RS<cr>
550	550
551		-Ex: #5QFD<cr> might return *5QFD64<cr>
	566	+This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
552	552
553		-The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds.
	568	+====== __29. **DEFAULT** & CONFIRM__ ======
554	554
555		-Configure First Position in Degrees (**CFD**)
	570	+Ex: #5DEFAULT<cr>
556	556
557		-Ex: #5CD64<cr>
	572	+This command sets in motion the reset of all values to the default values included with the version of the firmware installed on that servo. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the DEFAULT function.
558	558
559		-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.
	574	+EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
560	560
561		-====== __22. Query Target Position in Degrees (**QDT**)__ ======
	576	+Since it it not common to have to restore all configurations, a confirmation command is needed after a firmware command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will exit the command.
562	562
563		-Ex: #5QDT<cr> might return *5QDT6783<cr>
	578	+Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
564	564
565		-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>).
	580	+====== __30. **UPDATE** & CONFIRM__ ======
566	566
567		-====== __23. Query Model String (**QMS**)__ ======
	582	+Ex: #5UPDATE<cr>
568	568
569		-Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
	584	+This command sets in motion the equivalent of a long button press when the servo is not powered in order to enter firmware update mode. This is useful should the button be broken or inaccessible. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the UPDATE function.
570	570
571		-This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
	586	+EX: #5UPDATE<cr> followed by #5CONFIRM<cr>
572	572
573		-====== __23b. Query Model (**QM**)__ ======
	588	+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.
574	574
575		-Ex: #5QM<cr> might return *5QM68702699520cr>
	590	+Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
576	576
577		-This reply means the servo model is 0xFFF000000 or 100, meaning a high speed servo, first revision.
	592	+= Advanced =
578	578
579		-====== __24. Query Serial Number (**QN**)__ ======
	594	+The motion controller used in serial mode is not the same as the motion controller use in RC mode. RC mode is intended to add functionality to what would be considered "normal" RC behavior based on PWM input.
580	580
581		-Ex: #5QN<cr> might return *5QN~_~_<cr>
	596	+====== __A1. Angular Stiffness (**AS**)__ ======
582	582
583		-The number in the response is the servo's serial number which is set and cannot be changed.
	598	+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. There are no units.
584	584
585		-====== __25. Query Firmware (**QF**)__ ======
	600	+A positive value of "angular stiffness":
586	586
587		-Ex: #5QF<cr> might return *5QF11<cr>
	602	+* The more torque will be applied to try to keep the desired position against external input / changes
	603	+* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
588	588
589		-The integer in the reply represents the firmware version with one decimal, in this example being 1.1
	605	+A negative value on the other hand:
590	590
591		-====== __26. Query Status (**Q**)__ ======
	607	+* Causes a slower acceleration to the travel speed, and a slower deceleration
	608	+* Allows the target position to deviate more from its position before additional torque is applied to bring it back
592	592
593		-Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
	610	+The default value for stiffness depending on the firmware may be 0 or 1. Greater values produce increasingly erratic behavior and the effect becomes extreme below -4 and above +4. Maximum values are -10 to +10.
594	594
595		-|*Value returned|**Status**|**Detailed description**
596		-|ex: *5Q0<cr>|Unknown|LSS is unsure
597		-|ex: *5Q1<cr>|Limp|Motor driving circuit is not powered and horn can be moved freely
598		-|ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
599		-|ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
600		-|ex: *5Q4<cr>|Traveling|Moving at a stable speed
601		-|ex: *5Q5<cr>|Decelerating|Decreasing from travel speed towards final position.
602		-|ex: *5Q6<cr>|Holding|Keeping current position
603		-|ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque
604		-|ex: *5Q8<cr>|Outside limits|{More details coming soon}
605		-|ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting
606		-|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
	612	+Ex: #5AS-2<cr>
607	607
608		-====== __27. Query Voltage (**QV**)__ ======
	614	+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.
609	609
610		-Ex: #5QV<cr> might return *5QV11200<cr>
	616	+Ex: #5QAS<cr>
611	611
612		-The number returned has one decimal, so in the case above, servo with ID 5 has an input voltage of 11.2V (perhaps a three cell LiPo battery).
	618	+Queries the value being used.
613	613
614		-====== __28. Query Temperature (**QT**)__ ======
	620	+Ex: #5CAS<cr>
615	615
616		-Ex: #5QT<cr> might return *5QT564<cr>
	622	+Writes the desired angular stiffness value to memory.
617	617
618		-The units are in tenths of degrees Celcius, so in the example above, the servo's internal temperature is 56.4 degrees C. To convert from degrees Celcius to degrees Farenheit, multiply by 1.8 and add 32. Therefore 56.4C = 133.52F.
	624	+====== __A2. Angular Holding Stiffness (**AH**)__ ======
619	619
620		-====== __29. Query Current (**QC**)__ ======
	626	+The angular holding stiffness determines the servo's ability to hold a desired position under load. The default value for stiffness depending on the firmware may be 0 or 1. Greater values produce increasingly erratic behavior and the effect becomes extreme below -4 and above +4. Maximum values are -10 to +10. Note that when  considering altering a stiffness value, the end effect depends on the mode being tested.
621	621
622		-Ex: #5QC<cr> might return *5QC140<cr>
	628	+Ex: #5AH3<cr>
623	623
624		-The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
	630	+This sets the holding stiffness for servo #5 to 3 for that session.
625	625
626		-====== __30. RC Mode (**CRC**)__ ======
	632	+Query Angular Hold Stiffness (**QAH**)
627	627
628		-This command puts the servo into RC mode (position or continuous), where it will only respond to RC pulses. Note that because this is the case, the servo will no longer accept serial commands. The servo can be placed back into smart mode by using the button menu.
	634	+Ex: #5QAH<cr> might return *5QAH3<cr>
629	629
630		-|**Command sent**|**Note**
631		-|ex: #5CRC<cr>|Stay in smart mode.
632		-|ex: #5CRC1<cr>|Change to RC position mode.
633		-|ex: #5CRC2<cr>|Change to RC continuous (wheel) mode.
634		-|ex: #5CRC*<cr>|Where * is any number or value. Stay in smart mode.
	636	+This returns the servo's angular holding stiffness value.
635	635
636		-EX: #5CRC<cr>
	638	+Configure Angular Hold Stiffness (**CAH**)
637	637
638		-====== __31. RESET__ ======
	640	+Ex: #5CAH2<cr>
639	639
640		-Ex: #5RESET<cr> or #5RS<cr>
	642	+This writes the angular holding stiffness of servo #5 to 2 to EEPROM. Note that when  considering altering a stiffness value, the end effect depends on the mode being tested.
641	641
642		-This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
	644	+====== __A3: Angular Acceleration (**AA**)__ ======
643	643
644		-====== __32. DEFAULT & CONFIRM__ ======
	646	+The default value for angular acceleration is 100, which is the same as the maximum deceleration. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
645	645
646		-Ex: #5DEFAULT<cr>
	648	+Ex: #5AA30<cr>
647	647
648		-This command sets in motion the reset all values to the default values included with the version of the firmware installed on that servo. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the DEFAULT function.
	650	+Query Angular Acceleration (**QAD**)
649	649
650		-EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
	652	+Ex: #5QA<cr> might return *5QA30<cr>
651	651
652		-Since it it not common to have to restore all configurations, a confirmation command is needed after a firmware 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	+Configure Angular Acceleration (**CAD**)
653	653
654		-Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
	656	+Ex: #5CA30<cr>
655	655
656		-====== __33. UPDATE & CONFIRM__ ======
	658	+====== __A4: Angular Deceleration (**AD**)__ ======
657	657
658		-Ex: #5UPDATE<cr>
	660	+The default value for angular deceleration is 100, which is the same as the maximum acceleration. Values between 1 and 15 have the greatest impact.
659	659
660		-This command sets in motion the equivalent of a long button press when the servo is not powered in order to enter firmware update mode. This is useful should the button be broken or inaccessible. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the UPDATE function.
	662	+Ex: #5AD8<cr>
661	661
662		-EX: #5UPDATE<cr> followed by #5CONFIRM<cr>
	664	+Query Angular Deceleration (**QAD**)
663	663
664		-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.
	666	+Ex: #5QD<cr> might return *5QD8<cr>
665	665
666		-Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
	668	+Configure Angular Deceleration (**CAD**)
	669	+
	670	+Ex: #5CD8<cr>
	671	+
	672	+====== __A5: Motion Control (**EM**)__ ======
	673	+
	674	+{More details to come}
	675	+
	676	+====== __A6. Configure LED Blinking (**CLB**)__ ======
	677	+
	678	+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). This is very useful when visually seeing what the servo is doing. You can turn on or off blinking for various LSS status. The command requires that the servo be RESET. Here is the list and their associated value:
	679	+
	680	+(% style="width:195px" %)
	681	+|(% style="width:134px" %)**Blink While:**|(% style="width:58px" %)**#**
	682	+|(% style="width:134px" %)No blinking|(% style="width:58px" %)0
	683	+|(% style="width:134px" %)Limp|(% style="width:58px" %)1
	684	+|(% style="width:134px" %)Holding|(% style="width:58px" %)2
	685	+|(% style="width:134px" %)Accelerating|(% style="width:58px" %)4
	686	+|(% style="width:134px" %)Decelerating|(% style="width:58px" %)8
	687	+|(% style="width:134px" %)Free|(% style="width:58px" %)16
	688	+|(% style="width:134px" %)Travelling|(% style="width:58px" %)32
	689	+|(% style="width:134px" %)Always blink|(% style="width:58px" %)63
	690	+
	691	+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:
	692	+
	693	+Ex: #5CLB0<cr> to turn off all blinking (LED always solid)
	694	+Ex: #5CLB1<cr> only blink when limp (1)
	695	+Ex: #5CLB2<cr> only blink when holding (2)
	696	+Ex: #5CLB12<cr> only blink when accel or decel (accel 4 + decel 8 = 12)
	697	+Ex: #5CLB48<cr> only blink when free or travel (free 16 + travel 32 = 48)
	698	+Ex: #5CLB63<cr> blink in all status (1 + 2 + 4 + 8 + 16 + 32)
	699	+
	700	+RESETTING the servo is needed.