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Parent

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

Author

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1		-xwiki:XWiki.CBenson
	1	+xwiki:XWiki.RB1

Tags

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1		-LSS|communication|protocol|programming|firmware|control|LSS-Ref
	1	+LSS|communication|protocol|programming|firmware|control

Content

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1		-(% class="wikigeneratedid" id="HTableofContents" %)
2		-**Table of Contents**
3		-
4	4	{{toc depth="3"/}}
5	5
6		-= Serial Protocol Concept =
	3	+= Protocol concepts =
7	7
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.
	5	+The Lynxmotion Smart Servo (LSS) protocol was created in order to be as simple and straightforward as possible from a user perspective, while at the same time trying to stay compact and robust yet highly versatile. Almost everything one might expect to be able to configure for a smart servo motor is available.
9	9
10		-In order to have servos react differently when commands are sent to all servos in a serial bus, the first step a user should take is to assign a different ID number to each servo (explained below). Once this has been done, only the servo(s) which have been assigned to the ID sent as part of the command will follow that command. There is currently no CRC / checksum implemented as part of the protocol.
11		-
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		-
18	18	== Action Commands ==
19	19
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:
	13	+Action commands are sent serially to the servo's Rx pin and must be set in the following format:
21	21
22	22	1. Start with a number sign # (U+0023)
23	23	1. Servo ID number as an integer
...	...	@@ -28,12 +28,16 @@
28	28	(((
29	29	Ex: #5PD1443<cr>
30	30
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.
	24	+Move servo with ID #5 to a position of 144.3 degrees.
32	32
33		-== Action Modifiers ==
	26	+Action commands cannot be combined with query commands, and only one action command can be sent at a time.
34	34
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:
	28	+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).
36	36
	30	+=== Action Modifiers ===
	31	+
	32	+Two commands can be used as action modifiers only: Timed Move and Speed. The format is:
	33	+
37	37	1. Start with a number sign # (U+0023)
38	38	1. Servo ID number as an integer
39	39	1. Action command (one to three letters, no spaces, capital or lower case)
...	...	@@ -44,12 +44,32 @@
44	44
45	45	Ex: #5P1456T1263<cr>
46	46
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.
	44	+Results in the servo rotating from the current angular position to a pulse position of 1456 in 1263 milliseconds.
	45	+
	46	+Action modifiers can only be used with certain commands.
48	48	)))
49	49
	49	+== Configuration Commands ==
	50	+
	51	+Configuration commands affect the servo's current session* but unlike action commands, configuration commands are written to EEPROM and are retained even if the servo loses power (therefore NOT session specific). Not all action commands have a corresponding configuration and vice versa. Certain configurations are retained for when the servo is used in RC model. More information can be found on the [[LSS - RC PWM page>>doc:LSS - Overview (DEV).LSS - RC PWM.WebHome]].
	52	+
	53	+1. Start with a number sign # (U+0023)
	54	+1. Servo ID number as an integer
	55	+1. Configuration command (two to three letters, no spaces, capital or lower case)
	56	+1. Configuration value in the correct units with no decimal
	57	+1. End with a control / carriage return '<cr>'
	58	+
	59	+Ex: #5CO-50<cr>
	60	+
	61	+Assigns an absolute origin offset of -5.0 degrees (with respect to factory origin) to servo #5 and changes the offset for that session to -5.0 degrees.
	62	+
	63	+Configuration commands are not cumulative, in that if two configurations are sent at any time, only the last configuration is used and stored.
	64	+
	65	+*Important Note: the one exception is the baud rate - the servo's current session retains the given baud rate. The new baud rate will only be in place when the servo is power cycled.
	66	+
50	50	== Query Commands ==
51	51
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:
	69	+Query commands are sent serially to the servo's Rx pin and must be set in the following format:
53	53
54	54	1. Start with a number sign # (U+0023)
55	55	1. Servo ID number as an integer
...	...	@@ -61,61 +61,49 @@
61	61	)))
62	62
63	63	(((
64		-The query will return a serial string (almost instantaneously) via the servo's Tx pin with the following format:
	81	+The query will return a value via the Tx pin with the following format:
65	65
66		-1. Start with an asterisk * (U+002A)
	83	+1. Start with an asterisk (U+002A)
67	67	1. Servo ID number as an integer
68	68	1. Query command (one to three letters, no spaces, capital letters)
69	69	1. The reported value in the units described, no decimals.
70	70	1. End with a control / carriage return '<cr>'
71	71
72		-There is currently no option to control how fast a servo replies after it has received a query command, therefore when sending a query command to the bus, the controller should be prepared to immediately "listen" for and parse the reply. Sending multiple queries on a bus in fast succession may result in replies overlapping and giving incorrect or corrupt data. As such, the controller should receive a reply before sending a new command. A reply to the query sent above might be:
73		-
74	74	(((
75	75	Ex: *5QD1443<cr>
76	76	)))
77	77
78		-This indicates that servo #5 is currently at 144.3 degrees (1443 tenths of degrees).
	93	+Indicates that servo #5 is currently at 144.3 degrees.
79	79
80		-== Configuration Commands ==
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:
83		-
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>'
89		-
90		-Ex: #5CO-50<cr>
91		-
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.
93		-
94	94	**Session vs Configuration Query**
95	95
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	+By default, the query command returns the sessions' value; should no action commands have been sent to change, it will return the value saved in EEPROM from the last configuration command.
97	97
98		-Ex: #5CSR20<cr> immediately sets the maximum speed for servo #5 to 20rpm (explained below) and changes the value in memory.
	99	+In order to query the value in EEPROM, add a '1' to the query command.
99	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	+Ex: #5CSR20<cr> sets the maximum speed for servo #5 to 20rpm upon RESET (explained below).
101	101
102		-#5QSR<cr> would return *5QSR4<cr> which represents the value for that session, whereas
	103	+After RESET: #5SR4<cr> sets the session's speed to 4rpm.
103	103
	105	+#5QSR<cr> would return *5QSR4<cr> which represents the value for that session.
	106	+
104	104	#5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
105	105
106		-== Virtual Angular Position ==
	109	+=== Virtual Angular Position ===
107	107
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).
	111	+{In progress}
109	109
	113	+A "virtual position" is one which allows for multiple rotations of the output horn, moving the center position and more. The "absolute position" would be the angle of the output shaft with respect to 360.0 degrees.
	114	+
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:
	117	+Example: Gyre direction / rotation is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees.
113	113
114		-#1D-300<cr> This causes the servo to move to -30.0 degrees (green arrow)
	119	+#1D-300<cr> The servo is sent a command 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 plus 60.0 degrees (420.0 - 360.0), with a virtual position of -420.0 degrees.
	123	+#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.
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
...	...	@@ -128,76 +128,52 @@
128	128
129	129	= Command List =
130	130
131		-|= #|=Description|= Action|= Query|= Config|=(((
132		-Config Affects
133		-
134		-Session
135		-)))|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
136		-| 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| L| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
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" %)
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" %)(((
142		-0
	136	+|= #|=Description|= Action|= Query|= Config|= RC|= Serial|= Units|= Notes
	137	+| 1|**L**imp| L| | | | ✓| none|
	138	+| 2|**H**alt & Hold| H| | | | ✓| none|
	139	+| 3|**T**imed move| T| | | | ✓| milliseconds| Modifier only
	140	+| 4|**S**peed| S| | | | ✓| microseconds / second| Modifier only
	141	+| 5|**M**ove in **D**egrees (relative)| MD| | | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
	142	+| 6|**O**rigin Offset| O| QO| CO| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
	143	+| 7|**A**ngular **R**ange| AR| QAR| CAR| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
	144	+| 8|Position in **P**ulse| P| QP| | | ✓| microseconds|(((
	145	+See details below
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" %)(((
145		-1800
	147	+| 9|Position in **D**egrees| D| QD| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
	148	+| 10|**W**heel mode in **D**egrees| WD| QWD| | | ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|
	149	+| 11|**W**heel mode in **R**PM| WR| QWR| | | ✓| rpm|
	150	+| 12|Max **S**peed in **D**egrees| SD| QSD| CSD| ✓| ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|QSD: Add modifier "2" for instantaneous speed
	151	+| 13|Max **S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|QSR: Add modifier "2" for instantaneous speed
	152	+| 14|**A**ngular **S**tiffness| AS| QAS| CAS| ✓| ✓|none|-4 to +4, but suggested values are between 0 to +4
	153	+| 15|**A**ngular **H**olding Stiffness|AH|QAH|CAH| | ✓|none|-10 to +10, with default as 0.
	154	+|15b|**A**ngular **A**cceleration|AA|QAA|CAA| | ✓|degrees per second squared|Increments of 10 degrees per second squared
	155	+|15c|**A**ngular **D**eceleration|AD|QAD|CAD| | ✓|degrees per second squared|Increments of 10 degrees per second squared
	156	+|15d|**M**otion **C**ontrol|MC|QMC| | | ✓|none|MC0 to disable motion control, MC1 to enable. Session specific
	157	+| 16|**LED** Color| LED| QLED| CLED| ✓| ✓| none (integer from 1 to 8)|0=OFF 1=RED 2=GREEN 3= BLUE 4=YELLOW 5=CYAN 6=MAGENTA, 7=WHITE
	158	+| 17|**ID** #| | QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to
	159	+| 18|**B**aud rate| B| QB| CB| | ✓| none (integer)|
	160	+| 19|**G**yre direction (**G**)| G| QG| CG| ✓| ✓| none | Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise)
	161	+| 20|**F**irst Position (**P**ulse)| | QFP|CFP | ✓| ✓| none |
	162	+| 21|**F**irst Position (**D**egrees)| | QFD|CFD| ✓| ✓| none |
	163	+| 22|**T**arget (**D**egree) **P**osition| | QDT| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
	164	+| 23|**M**odel **String**| | QMS| | | | none (string)| Recommended to determine the model|
	165	+| 23b|**M**odel| | QM| | | | none (integer)| Returns a raw value representing the three model inputs (36 bit)|
	166	+| 24|Serial **N**umber| | QN| | | | none (integer)|
	167	+| 25|**F**irmware version| | QF| | | | none (integer)|
	168	+| 26|**Q**uery (general status)| | Q| | | ✓| none (integer from 1 to 8)| See command description for details
	169	+| 27|**V**oltage| | QV| | | ✓| millivolts (ex 5936 = 5936mV = 5.936V)|
	170	+| 28|**T**emperature| | QT| | | ✓| tenths of degrees Celsius|Max temp before error: 85°C (servo goes limp)
	171	+| 29|**C**urrent| | QC| | | ✓| milliamps (ex 200 = 0.2A)|
	172	+| 30|**RC** Mode| | |CRC| |✓|none|(((
	173	+CRC: Add modifier "1" for RC-position mode.
	174	+CRC: Add modifier "2" for RC-wheel mode.
	175	+Any other value for the modifier results in staying in smart mode.
	176	+Puts the servo into RC mode. To revert to smart mode, use the button menu.
146	146	)))
147		-| 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| P| QP| | | | ✓|microseconds|(% style="width:510px" %)(((
148		-Inherited from SSC-32 serial protocol
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" %)
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		-| 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" %)(((
154		-QSD: Add modifier "2" for instantaneous speed.
	178	+|31|**RESET**| | | | | ✓|none|Soft reset. See command for details.
	179	+|32|**DEFAULT**| | | | |✓|none|Revert to firmware default values. See command for details
	180	+|33|**UPDATE**| | | | |✓|none|Update firmware. See command for details.
155	155
156		-SD overwrites SR / CSD overwrites CSR and vice-versa.
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" %)(((
159		-QSR: Add modifier "2" for instantaneous speed
160		-
161		-SR overwrites SD / CSR overwrites CSD and vice-versa.
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
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.
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" %)
186		-
187		-== Advanced ==
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" %)(((
196		-0=No blinking, 63=Always blink;
197		-
198		-Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;
199		-)))|(% style="text-align:center; width:113px" %)
200		-
201	201	== Details ==
202	202
203	203	====== __1. Limp (**L**)__ ======
...	...	@@ -206,41 +206,39 @@
206	206
207	207	This action causes the servo to go "limp". The microcontroller will still be powered, but the motor will not. As an emergency safety feature, should the robot not be doing what it is supposed to or risks damage, use the broadcast ID to set all servos limp #254L<cr>.
208	208
209		-====== __2. Halt & Hold (**H**)__ ======
	190	+__2. Halt & Hold (**H**)__
210	210
211	211	Example: #5H<cr>
212	212
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.
	194	+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.
214	214
215		-====== __3. Timed move (**T**)__ ======
	196	+__3. Timed move (**T**)__
216	216
217	217	Example: #5P1500T2500<cr>
218	218
219		-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.
	200	+Timed move can be used only as a modifier for a position (P) action. The units are in milliseconds, so a timed move of 2500 milliseconds would cause the servo to rotate from its current position to the desired position in 2.5 seconds. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.
220	220
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.
	202	+__4. Speed (**S**)__
222	222
223		-====== __4. Speed (**S**)__ ======
224		-
225	225	Example: #5P1500S750<cr>
226	226
227	227	This command is a modifier only for a position (P) action and determines the speed of the move in microseconds per second. A speed of 750 microseconds would cause the servo to rotate from its current position to the desired position at a speed of 750 microseconds per second. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.
228	228
229		-====== __5. (Relative) Move in Degrees (**MD**)__ ======
	208	+__5. (Relative) Move in Degrees (**MD**)__
230	230
231	231	Example: #5MD123<cr>
232	232
233	233	The relative move command causes the servo to read its current position and move the specified number of tenths of degrees in the corresponding position. For example if the servo is set to rotate CW (default) and an MD command of 123 is sent to the servo, it will cause the servo to rotate clockwise by 12.3 degrees. Negative commands would cause the servo to rotate in the opposite configured direction.
234	234
235		-====== __6. Origin Offset Action (**O**)__ ======
	214	+__6. Origin Offset Action (**O**)__
236	236
237	237	Example: #5O2400<cr>
238	238
239		-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).
	218	+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).
240	240
241	241	[[image:LSS-servo-default.jpg]]
242	242
243		-In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
	222	+In the second image, the origina, as well as the angular range (explained below) have been shifted by 240.0 degrees:
244	244
245	245	[[image:LSS-servo-origin.jpg]]
246	246
...	...	@@ -248,39 +248,39 @@
248	248
249	249	Example: #5QO<cr> Returns: *5QO-13
250	250
251		-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.
	230	+This allows you to query the angle (in tenths of degrees) of the origin in relation to the factory zero position.
252	252
253	253	Configure Origin Offset (**CO**)
254	254
255	255	Example: #5CO-24<cr>
256	256
257		-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.
	236	+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.
258	258
259		-====== __7. Angular Range (**AR**)__ ======
	238	+__7. Angular Range (**AR**)__
260	260
261	261	Example: #5AR1800<cr>
262	262
263		-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:
	242	+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,
264	264
265	265	[[image:LSS-servo-default.jpg]]
266	266
267		-Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
	246	+Here, the angular range has been restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
268	268
269	269	[[image:LSS-servo-ar.jpg]]
270	270
271		-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:
	250	+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:
272	272
273	273	[[image:LSS-servo-ar-o-1.jpg]]
274	274
275	275	Query Angular Range (**QAR**)
276	276
277		-Example: #5QAR<cr> might return *5AR1800, indicating the total angular range is 180.0 degrees.
	256	+Example: #5QAR<cr> might return *5AR2756
278	278
279	279	Configure Angular Range (**CAR**)
280	280
281	281	This command allows you to change the total angular range of the servo in tenths of degrees in EEPROM. The setting will be saved upon servo reset / power cycle.
282	282
283		-====== __8. Position in Pulse (**P**)__ ======
	262	+__8. Position in Pulse (**P**)__
284	284
285	285	Example: #5P2334<cr>
286	286
...	...	@@ -293,7 +293,7 @@
293	293	This command queries the current angular position in PWM "units". The user must take into consideration that the response includes any angular range and origin configurations in order to determine the actual angle.
294	294	Valid values for QP are {-500, [500, 2500], -2500}. Values outside the [500, 2500] range are given a negative corresponding end point value to indicate they are out of bounds (note that if the servo is physically located at one of the endpoints, it may return a negative number if it is a fraction of a degree beyond the position).
295	295
296		-====== __9. Position in Degrees (**D**)__ ======
	275	+__9. Position in Degrees (**D**)__
297	297
298	298	Example: #5PD1456<cr>
299	299
...	...	@@ -307,7 +307,7 @@
307	307
308	308	This means the servo is located at 13.2 degrees.
309	309
310		-====== __10. Wheel Mode in Degrees (**WD**)__ ======
	289	+__10. Wheel Mode in Degrees (**WD**)__
311	311
312	312	Ex: #5WD900<cr>
313	313
...	...	@@ -319,7 +319,7 @@
319	319
320	320	The servo replies with the angular speed in tenths of degrees per second. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
321	321
322		-====== __11. Wheel Mode in RPM (**WR**)__ ======
	301	+__11. Wheel Mode in RPM (**WR**)__
323	323
324	324	Ex: #5WR40<cr>
325	325
...	...	@@ -331,7 +331,7 @@
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**)__ ======
	313	+__12. Speed in Degrees (**SD**)__
335	335
336	336	Ex: #5SD1800<cr>
337	337
...	...	@@ -356,7 +356,7 @@
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**)__ ======
	338	+__13. Speed in RPM (**SR**)__
360	360
361	361	Ex: #5SD45<cr>
362	362
...	...	@@ -381,7 +381,7 @@
381	381
382	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.
383	383
384		-====== __14. Angular Stiffness (**AS**)__ ======
	363	+__14. Angular Stiffness (**AS**)__
385	385
386	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.
387	387
...	...	@@ -409,7 +409,7 @@
409	409
410	410	Writes the desired angular stiffness value to memory.
411	411
412		-====== __15. Angular Hold Stiffness (**AH**)__ ======
	391	+__15. Angular Hold Stiffness (**AH**)__
413	413
414	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	415
...	...	@@ -429,19 +429,19 @@
429	429
430	430	This writes the angular holding stiffness of servo #5 to 2 to EEPROM
431	431
432		-====== __15b: Angular Acceleration (**AA**)__ ======
	411	+__15b: Angular Acceleration (**AA**)__
433	433
434	434	{More details to come}
435	435
436		-====== __15c: Angular Deceleration (**AD**)__ ======
	415	+__15c: Angular Deceleration (**AD**)__
437	437
438	438	{More details to come}
439	439
440		-====== __15d: Motion Control (**EM**)__ ======
	419	+__15d: Motion Control (**MC**)__
441	441
442	442	{More details to come}
443	443
444		-====== __16. RGB LED (**LED**)__ ======
	423	+__16. RGB LED (**LED**)__
445	445
446	446	Ex: #5LED3<cr>
447	447
...	...	@@ -459,22 +459,8 @@
459	459
460	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	461
462		-====== __16b. Configure LED Blinking (**CLB**)__ ======
	441	+__17. Identification Number__
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;
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:
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
475		-
476		-====== __17. Identification Number__ ======
477		-
478	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.
479	479
480	480	Query Identification (**QID**)
...	...	@@ -489,7 +489,7 @@
489	489
490	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.
491	491
492		-====== __18. Baud Rate__ ======
	457	+__18. Baud Rate__
493	493
494	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	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.
...	...	@@ -502,13 +502,11 @@
502	502
503	503	Configure Baud Rate (**CB**)
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.
506		-
507	507	Ex: #5CB9600<cr>
508	508
509	509	Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
510	510
511		-====== __19. Gyre Rotation Direction__ ======
	474	+__19. Gyre Rotation Direction__
512	512
513	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).
514	514
...	...	@@ -526,7 +526,7 @@
526	526
527	527	This changes the gyre direction as described above and also writes to EEPROM.
528	528
529		-====== __20. First / Initial Position (pulse)__ ======
	492	+__20. First / Initial Position (pulse)__
530	530
531	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.
532	532
...	...	@@ -542,7 +542,7 @@
542	542
543	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).
544	544
545		-====== __21. First / Initial Position (Degrees)__ ======
	508	+__21. First / Initial Position (Degrees)__
546	546
547	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.
548	548
...	...	@@ -558,37 +558,37 @@
558	558
559	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.
560	560
561		-====== __22. Query Target Position in Degrees (**QDT**)__ ======
	524	+__22. Query Target Position in Degrees (**QDT**)__
562	562
563	563	Ex: #5QDT<cr> might return *5QDT6783<cr>
564	564
565	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>).
566	566
567		-====== __23. Query Model String (**QMS**)__ ======
	530	+__23. Query Model String (**QMS**)__
568	568
569	569	Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
570	570
571	571	This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
572	572
573		-====== __23b. Query Model (**QM**)__ ======
	536	+__23b. Query Model (**QM**)__
574	574
575	575	Ex: #5QM<cr> might return *5QM68702699520cr>
576	576
577	577	This reply means the servo model is 0xFFF000000 or 100, meaning a high speed servo, first revision.
578	578
579		-====== __24. Query Serial Number (**QN**)__ ======
	542	+__24. Query Serial Number (**QN**)__
580	580
581	581	Ex: #5QN<cr> might return *5QN~_~_<cr>
582	582
583	583	The number in the response is the servo's serial number which is set and cannot be changed.
584	584
585		-====== __25. Query Firmware (**QF**)__ ======
	548	+__25. Query Firmware (**QF**)__
586	586
587	587	Ex: #5QF<cr> might return *5QF11<cr>
588	588
589	589	The integer in the reply represents the firmware version with one decimal, in this example being 1.1
590	590
591		-====== __26. Query Status (**Q**)__ ======
	554	+__26. Query Status (**Q**)__
592	592
593	593	Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
594	594
...	...	@@ -598,32 +598,32 @@
598	598	|ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
599	599	|ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
600	600	|ex: *5Q4<cr>|Traveling|Moving at a stable speed
601		-|ex: *5Q5<cr>|Decelerating|Decreasing from travel speed towards final position.
	564	+|ex: *5Q5<cr>|Deccelerating|Decreasing speed towards travel speed towards rest
602	602	|ex: *5Q6<cr>|Holding|Keeping current position
603	603	|ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque
604		-|ex: *5Q8<cr>|Outside limits|{More details coming soon}
	567	+|ex: *5Q8<cr>|Outside limits|More details coming soon
605	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)
	569	+|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maxiumum duty and still cannot move (i.e.: stalled)
607	607
608		-====== __27. Query Voltage (**QV**)__ ======
	571	+__27. Query Voltage (**QV**)__
609	609
610	610	Ex: #5QV<cr> might return *5QV11200<cr>
611	611
612	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).
613	613
614		-====== __28. Query Temperature (**QT**)__ ======
	577	+__28. Query Temperature (**QT**)__
615	615
616	616	Ex: #5QT<cr> might return *5QT564<cr>
617	617
618	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.
619	619
620		-====== __29. Query Current (**QC**)__ ======
	583	+__29. Query Current (**QC**)__
621	621
622	622	Ex: #5QC<cr> might return *5QC140<cr>
623	623
624	624	The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
625	625
626		-====== __30. RC Mode (**CRC**)__ ======
	589	+__30. RC Mode (**CRC**)__
627	627
628	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.
629	629
...	...	@@ -635,13 +635,13 @@
635	635
636	636	EX: #5CRC<cr>
637	637
638		-====== __31. RESET__ ======
	601	+__31. RESET__
639	639
640	640	Ex: #5RESET<cr> or #5RS<cr>
641	641
642	642	This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
643	643
644		-====== __32. DEFAULT & CONFIRM__ ======
	607	+__32. DEFAULT & CONFIRM__
645	645
646	646	Ex: #5DEFAULT<cr>
647	647
...	...	@@ -653,7 +653,7 @@
653	653
654	654	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
655	655
656		-====== __33. UPDATE & CONFIRM__ ======
	619	+__33. UPDATE & CONFIRM__
657	657
658	658	Ex: #5UPDATE<cr>
659	659

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