Summary

• Page properties (1 modified, 0 added, 0 removed)

Details

Page properties

Content

...	...	@@ -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. In the Command table below, the column "Session" denotes if the configuration command affects the session.. 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
...	...	@@ -156,29 +156,29 @@
156	156
157	157	SR overwrites SD / CSR overwrites CSD and vice-versa.
158	158	)))|(% style="text-align:center; width:113px" %)Max per servo
159		-| 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
160		-| 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
161		-| 18|[[**B**aud rate>>||anchor="H18.BaudRate"]]| B| QB| CB| | | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)9600
162		-| 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
163		-| 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" %)(((
	159	+| 14|[[**LED** Color>>||anchor="H16.RGBLED28LED29"]]| LED| QLED| CLED|✓| ✓| ✓|none (integer from 0 to 8)|(% style="width:510px" %)0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;|(% style="text-align:center; width:113px" %)7
	160	+| 15|[[**G**yre direction (**G**)>>||anchor="H19.GyreRotationDirection"]]| G| QG| CG|✓| ✓| ✓|none |(% style="width:510px" %)Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)|(% style="text-align:center; width:113px" %)1
	161	+| 16|[[**ID** #>>||anchor="H17.IdentificationNumber"]]| | QID| CID| | | ✓|none (integer from 0 to 250)|(% style="width:510px" %)Note: ID 254 is a "broadcast" which all servos respond to. |(% style="text-align:center; width:113px" %)0
	162	+| 17|[[**B**aud rate>>||anchor="H18.BaudRate"]]| | QB| CB| | | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)9600
	163	+| 18|[[**F**irst Position (**P**ulse)>>||anchor="H20.First2InitialPosition28pulse29"]]| | QFP|CFP |X| ✓| ✓|none |(% style="width:510px" %)CFP overwrites CFD and vice-versa|(% style="text-align:center; width:113px" %)(((
164	164	Limp
165	165	)))
166		-| 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
167		-| 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" %)
168		-| 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" %)
169		-| 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" %)
170		-| 25|[[**F**irmware version>>||anchor="H25.QueryFirmware28QF29"]]| | QF| | | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
171		-| 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" %)
172		-| 27|[[**V**oltage>>||anchor="H27.QueryVoltage28QV29"]]| | QV| | | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
173		-| 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" %)
174		-| 29|[[**C**urrent>>||anchor="H29.QueryCurrent28QC29"]]| | QC| | | | ✓|milliamps (ex 200 = 0.2A)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
175		-| 30a|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]] - Position| | |CRC1| | | ✓|none|(% style="width:510px" %)(((
176		-Puts the servo into RC mode. To revert to smart mode, use the button menu.
	166	+| 19|[[**F**irst Position (**D**eg)>>||anchor="H21.First2InitialPosition28Degrees29"]]| | QFD|CFD|X| ✓| ✓|none |(% style="width:510px" %)CFD overwrites CFP and vice-versa|(% style="text-align:center; width:113px" %)Limp
	167	+| 20|[[**T**arget (**D**eg) **P**osition>>||anchor="H22.QueryTargetPositioninDegrees28QDT29"]]| | QDT| | | | ✓|tenths of degrees (ex 325 = 32.5 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	168	+| 21|[[**M**odel **S**tring>>||anchor="H23.QueryModelString28QMS29"]]| | QMS| | | | |none (string)|(% style="width:510px" %) Returns the type of servo (ST, HS, HT)|(% style="text-align:center; width:113px" %)
	169	+| 22|[[Serial **N**umber>>||anchor="H24.QuerySerialNumber28QN29"]]| | QN| | | | |none (integer)|(% style="width:510px" %) Returns the unique serial number for that servo|(% style="text-align:center; width:113px" %)
	170	+| 23|[[**F**irmware version>>||anchor="H25.QueryFirmware28QF29"]]| | QF| | | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	171	+| 24|[[**Q**uery (gen. status)>>||anchor="H26.QueryStatus28Q29"]]| | Q| | | | ✓|none (integer from 1 to 8)|(% style="width:510px" %) See command description for details|(% style="text-align:center; width:113px" %)
	172	+| 25|[[**V**oltage>>||anchor="H27.QueryVoltage28QV29"]]| | QV| | | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	173	+| 26|[[**T**emperature>>||anchor="H28.QueryTemperature28QT29"]]| | QT| | | | ✓|tenths of degrees Celsius|(% style="width:510px" %)Max temp before error: 85°C (servo goes limp)|(% style="text-align:center; width:113px" %)
	174	+| 27|[[**C**urrent>>||anchor="H29.QueryCurrent28QC29"]]| | QC| | | | ✓|milliamps (ex 200 = 0.2A)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
	175	+| 28|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]] - Position| | |CRC1|✓| | ✓|none|(% style="width:510px" %)(((
	176	+Change to RC position mode. To revert to smart mode, use the button menu.
177	177	)))|(% style="text-align:center; width:113px" %)Serial
178		-| 30b|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]] - Wheel| | |CRC2| | | ✓| |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
179		-| 31|[[**RESET**>>||anchor="H31.RESET"]]| | | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %)
180		-| 32|[[**DEFAULT**>>||anchor="H32.DEFAULTA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %)
181		-| 33|[[**UPDATE**>>||anchor="H33.UPDATEA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Update firmware. See command for details.|(% style="text-align:center; width:113px" %)
	178	+| 29|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]] - Wheel| | |CRC2|✓| | ✓| |(% style="width:510px" %)Change to RC wheel mode. To revert to smart mode, use the button menu.|(% style="text-align:center; width:113px" %)Serial
	179	+| 30|[[**RESET**>>||anchor="H31.RESET"]]| | | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %)
	180	+| 31|[[**DEFAULT**>>||anchor="H32.DEFAULTA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %)
	181	+| 32|[[**UPDATE**>>||anchor="H33.UPDATEA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Update firmware. See command for details.|(% style="text-align:center; width:113px" %)
182	182
183	183	== Advanced ==
184	184
...	...	@@ -208,7 +208,7 @@
208	208
209	209	This action overrides whatever the servo might be doing at the time the command is received (accelerating, moving continuously etc.) and causes it to stop immediately and hold that angular position.
210	210
211		-====== __3. Timed move (**T**)__ ======
	211	+====== __3. Timed move (**T**) modifier__ ======
212	212
213	213	Example: #5P1500T2500<cr>
214	214
...	...	@@ -216,7 +216,7 @@
216	216
217	217	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.
218	218
219		-====== __4. Speed (**S**)__ ======
	219	+====== __4. Speed (**S**) modifier__ ======
220	220
221	221	Example: #5P1500S750<cr>
222	222
...	...	@@ -327,22 +327,22 @@
327	327
328	328	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).
329	329
330		-====== __12. Speed in Degrees (**SD**)__ ======
	330	+====== __12. Max Speed in Degrees (**SD**)__ ======
331	331
332	332	Ex: #5SD1800<cr>
333	333
334		-This command sets the servo's maximum speed for action commands in tenths of degrees per second for that session. In the example above, the servo's maximum speed for that session would be set to 180.0 degrees per second. Therefore maximum speed for actions can be set "on the fly". The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SD overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD and SR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) is what the servo uses for that session.
	334	+This command sets the servo's maximum speed for motion commands in tenths of degrees per second for that session. In the example above, the servo's maximum speed for that session would be set to 180.0 degrees per second. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. The SD action command overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD and SR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.
335	335
336	336	Query Speed in Degrees (**QSD**)
337	337
338	338	Ex: #5QSD<cr> might return *5QSD1800<cr>
339	339
340		-By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever a SD/SR command is processed.
	340	+By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever an SD/SR command is processed.
341	341	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:
342	342
343	343	|**Command sent**|**Returned value (1/10 °)**
344	344	|ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
345		-|ex: #5QSD1<cr>|Configured maximum speed  (set by CSD/CSR)
	345	+|ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
346	346	|ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
347	347	|ex: #5QSD3<cr>|Target travel speed
348	348
...	...	@@ -352,22 +352,22 @@
352	352
353	353	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.
354	354
355		-====== __13. Speed in RPM (**SR**)__ ======
	355	+====== __13. Max Speed in RPM (**SR**)__ ======
356	356
357	357	Ex: #5SD45<cr>
358	358
359		-This command sets the servo's maximum speed for action commands in rpm for that session. In the example above, the servo's maximum speed for that session would be set to 45rpm. Therefore maximum speed for actions can be set "on the fly". The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SD overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) is what the servo uses for that session.
	359	+This command sets the servo's maximum speed for motion commands in rpm for that session. In the example above, the servo's maximum speed for that session would be set to 45rpm. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SD overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.
360	360
361	361	Query Speed in Degrees (**QSR**)
362	362
363	363	Ex: #5QSR<cr> might return *5QSR45<cr>
364	364
365		-By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever a SD/SR command is processed.
	365	+By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever an SD/SR command is processed.
366	366	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:
367	367
368	368	|**Command sent**|**Returned value (1/10 °)**
369	369	|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
370		-|ex: #5QSR1<cr>|Configured maximum speed  (set by CSD/CSR)
	370	+|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
371	371	|ex: #5QSR2<cr>|Instantaneous speed (same as QWR)
372	372	|ex: #5QSR3<cr>|Target travel speed
373	373
...	...	@@ -375,70 +375,10 @@
375	375
376	376	Ex: #5CSR45<cr>
377	377
378		-Using the CSR command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSR value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.
	378	+Using the CSR command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSR value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) received is what the servo uses for that session.
379	379
380		-====== __14. Angular Stiffness (**AS**)__ ======
	380	+====== __14. LED Color (**LED**)__ ======
381	381
382		-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.
383		-
384		-A positive value of "angular stiffness":
385		-
386		-* The more torque will be applied to try to keep the desired position against external input / changes
387		-* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
388		-
389		-A negative value on the other hand:
390		-
391		-* Causes a slower acceleration to the travel speed, and a slower deceleration
392		-* Allows the target position to deviate more from its position before additional torque is applied to bring it back
393		-
394		-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.
395		-
396		-Ex: #5AS-2<cr>
397		-
398		-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.
399		-
400		-Ex: #5QAS<cr>
401		-
402		-Queries the value being used.
403		-
404		-Ex: #5CAS<cr>
405		-
406		-Writes the desired angular stiffness value to memory.
407		-
408		-====== __15. Angular Hold Stiffness (**AH**)__ ======
409		-
410		-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.
411		-
412		-Ex: #5AH3<cr>
413		-
414		-This sets the holding stiffness for servo #5 to 3 for that session.
415		-
416		-Query Angular Hold Stiffness (**QAH**)
417		-
418		-Ex: #5QAH<cr> might return *5QAH3<cr>
419		-
420		-This returns the servo's angular holding stiffness value.
421		-
422		-Configure Angular Hold Stiffness (**CAH**)
423		-
424		-Ex: #5CAH2<cr>
425		-
426		-This writes the angular holding stiffness of servo #5 to 2 to EEPROM
427		-
428		-====== __15b: Angular Acceleration (**AA**)__ ======
429		-
430		-{More details to come}
431		-
432		-====== __15c: Angular Deceleration (**AD**)__ ======
433		-
434		-{More details to come}
435		-
436		-====== __15d: Motion Control (**EM**)__ ======
437		-
438		-{More details to come}
439		-
440		-====== __16. RGB LED (**LED**)__ ======
441		-
442	442	Ex: #5LED3<cr>
443	443
444	444	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.
...	...	@@ -453,63 +453,50 @@
453	453
454	454	Configure LED Color (**CLED**)
455	455
456		-Configuring the LED color via the CLED command sets the startup color of the servo after a reset or power cycle. Note that it also changes the session's LED color immediately as well.
	396	+Configuring the LED color via the CLED command sets the startup color of the servo after a reset or power cycle. Note that it also changes the session's LED color immediately as well.
457	457
458		-====== __16b. Configure LED Blinking (**CLB**)__ ======
	398	+====== __15. Identification Number (**ID** #)__ ======
459	459
460		-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).
461		-You can turn on or off blinking for various LSS status. Here is the list and their associated value: 0=No blinking, ; 63=Always blink; Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;
	400	+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).
462	462
463		-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:
464		-
465		-Ex: #5CLB0<cr> to turn off all blinking (LED always solid)
466		-Ex: #5CLB1<cr> only blink when limp
467		-Ex: #5CLB2<cr> only blink when holding
468		-Ex: #5CLB12<cr> only blink when accel or decel
469		-Ex: #5CLB48<cr> only blink when free or travel
470		-Ex: #5CLB63<cr> blink in all status
471		-
472		-====== __17. Identification Number__ ======
473		-
474		-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.
475		-
476	476	Query Identification (**QID**)
477	477
478	478	EX: #254QID<cr> might return *QID5<cr>
479	479
480		-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.
	406	+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.
481	481
482	482	Configure ID (**CID**)
483	483
484	484	Ex: #4CID5<cr>
485	485
486		-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.
	412	+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.
487	487
488		-====== __18. Baud Rate__ ======
	414	+====== __16. Baud Rate (B)__ ======
489	489
490		-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.
491		-\*: 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.
	416	+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.
492	492
493	493	Query Baud Rate (**QB**)
494	494
495	495	Ex: #5QB<cr> might return *5QB9600<cr>
496	496
497		-Querying the baud rate is used simply to confirm the CB configuration command before the servo is power cycled.
	422	+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.
498	498
499	499	Configure Baud Rate (**CB**)
500	500
501		-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.
	426	+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.
502	502
503	503	Ex: #5CB9600<cr>
504	504
505	505	Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
506	506
507		-====== __19. Gyre Rotation Direction__ ======
	432	+====== __17. Gyre Rotation Direction (**G**)__ ======
508	508
509	509	"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).
510	510
511		-{images showing before and after with AR and Origin offset}
	436	+Ex: #5G-1<cr>
512	512
	438	+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.
	439	+
513	513	Query Gyre Direction (**QG**)
514	514
515	515	Ex: #5QG<cr> might return *5QG-1<cr>
...	...	@@ -522,9 +522,9 @@
522	522
523	523	This changes the gyre direction as described above and also writes to EEPROM.
524	524
525		-====== __20. First / Initial Position (pulse)__ ======
	452	+====== __18. First Position (Pulse) (**FP**)__ ======
526	526
527		-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.
	454	+In certain cases, a user might want to have the servo move to a specific angle upon power up; we refer to this as "first position" (a.k.a. "initial position"). The factory default has no first position value stored in EEPROM and therefore upon power up, the servo remains limp until a position (or hold command) is assigned. FP and FD are different in that FP is used for RC mode only, whereas FD is used for smart mode only.
528	528
529	529	Query First Position in Pulses (**QFP**)
530	530
...	...	@@ -536,11 +536,11 @@
536	536
537	537	Ex: #5CP1550<cr>
538	538
539		-This configuration command means the servo, when set to RC mode, will immediately move to an angle equivalent to having received an RC pulse of 1550 microseconds upon power up. Sending a CFP command without a number results in the servo remaining limp upon power up (i.e. disabled).
	466	+This configuration command means the servo, when set to RC mode, will immediately move to an angle equivalent to having received an RC pulse of 1550 microseconds upon power up. Sending a CFP command without a number results in the servo remaining limp upon power up (i.e. disabled).
540	540
541		-====== __21. First / Initial Position (Degrees)__ ======
	468	+====== __19. First / Initial Position (Degrees) (**FD**)__ ======
542	542
543		-In certain cases, a user might want to have the servo move to a specific angle upon power up. We refer to this as "first position". The factory default has no first position value stored in EEPROM and therefore upon power up, the servo remains limp until a position (or hold command) is assigned. FP and FD are different in that FP is used for RC mode only, whereas FD is used for smart mode only.
	470	+In certain cases, a user might want to have the servo move to a specific angle upon power up; we refer to this as "first position" (a.k.a. "initial position"). The factory default has no first position value stored in EEPROM and therefore upon power up, the servo remains limp until a position (or hold command) is assigned. FP and FD are different in that FP is used for RC mode only, whereas FD is used for smart mode only.
544	544
545	545	Query First Position in Degrees (**QFD**)
546	546
...	...	@@ -660,3 +660,77 @@
660	660	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.
661	661
662	662	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
	590	+
	591	+====== __A1. Angular Stiffness (**AS**)__ ======
	592	+
	593	+The servo's rigidity / angular stiffness can be thought of as (though not identical to) a damped spring in which the value affects the stiffness and embodies how much, and how quickly the servo tried keep the requested position against changes.
	594	+
	595	+A positive value of "angular stiffness":
	596	+
	597	+* The more torque will be applied to try to keep the desired position against external input / changes
	598	+* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
	599	+
	600	+A negative value on the other hand:
	601	+
	602	+* Causes a slower acceleration to the travel speed, and a slower deceleration
	603	+* Allows the target position to deviate more from its position before additional torque is applied to bring it back
	604	+
	605	+The default value is zero and the effect becomes extreme by -4, +4. There are no units, only integers between -4 to 4. Greater values produce increasingly erratic behavior.
	606	+
	607	+Ex: #5AS-2<cr>
	608	+
	609	+This reduces the angular stiffness to -2 for that session, allowing the servo to deviate more around the desired position. This can be beneficial in many situations such as impacts (legged robots) where more of a "spring" effect is desired. Upon reset, the servo will use the value stored in memory, based on the last configuration command.
	610	+
	611	+Ex: #5QAS<cr>
	612	+
	613	+Queries the value being used.
	614	+
	615	+Ex: #5CAS<cr>
	616	+
	617	+Writes the desired angular stiffness value to memory.
	618	+
	619	+====== __A2. Angular Holding Stiffness (**AH**)__ ======
	620	+
	621	+The angular holding stiffness determines the servo's ability to hold a desired position under load. Values can be from -10 to 10, with the default being 0. Note that negative values mean the final position can be easily deflected.
	622	+
	623	+Ex: #5AH3<cr>
	624	+
	625	+This sets the holding stiffness for servo #5 to 3 for that session.
	626	+
	627	+Query Angular Hold Stiffness (**QAH**)
	628	+
	629	+Ex: #5QAH<cr> might return *5QAH3<cr>
	630	+
	631	+This returns the servo's angular holding stiffness value.
	632	+
	633	+Configure Angular Hold Stiffness (**CAH**)
	634	+
	635	+Ex: #5CAH2<cr>
	636	+
	637	+This writes the angular holding stiffness of servo #5 to 2 to EEPROM
	638	+
	639	+====== __A3: Angular Acceleration (**AA**)__ ======
	640	+
	641	+{More details to come}
	642	+
	643	+====== __A4: Angular Deceleration (**AD**)__ ======
	644	+
	645	+{More details to come}
	646	+
	647	+====== __A5: Motion Control (**EM**)__ ======
	648	+
	649	+{More details to come}
	650	+
	651	+====== __A6. Configure LED Blinking (**CLB**)__ ======
	652	+
	653	+This command allows you to control when the RGB LED will blink the user set color (see [[16. RGB LED>>||anchor="H16.RGBLED28LED29"]] for details).
	654	+You can turn on or off blinking for various LSS status. Here is the list and their associated value: 0=No blinking, ; 63=Always blink; Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;
	655	+
	656	+To set blinking, use CLB with the value of your choosing. To activate blinking in multiple status, simply add together the values of the corresponding status. See examples below:
	657	+
	658	+Ex: #5CLB0<cr> to turn off all blinking (LED always solid)
	659	+Ex: #5CLB1<cr> only blink when limp
	660	+Ex: #5CLB2<cr> only blink when holding
	661	+Ex: #5CLB12<cr> only blink when accel or decel
	662	+Ex: #5CLB48<cr> only blink when free or travel
	663	+Ex: #5CLB63<cr> blink in all status