Wiki source code of LSS - Communication Protocol

Version 131.1 by Coleman Benson on 2019/05/08 13:14

79.1	1	(% class="wikigeneratedid" id="HTableofContents" %)
100.1	2	Page Contents
67.1	3
64.5	4	{{toc depth="3"/}}
	5
93.1	6	= Serial Protocol Concept =
64.19	7
94.1	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.
1.1	9
94.1	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.
93.1	11
64.2	12	== Session ==
1.1	13
	14	A "session" is defined as the time between when the servo is powered ON to when it is powered OFF or reset.
	15
96.1	16	Note that for a given session, the action related to a specific commands overrides the stored value in EEPROM.
	17
1.1	18	== Action Commands ==
	19
94.1	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:
1.1	21
	22	1. Start with a number sign # (U+0023)
	23	1. Servo ID number as an integer
	24	1. Action command (one to three letters, no spaces, capital or lower case)
	25	1. Action value in the correct units with no decimal
	26	1. End with a control / carriage return '<cr>'
	27
	28	(((
	29	Ex: #5PD1443<cr>
	30
94.1	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.
1.1	32
65.2	33	== Action Modifiers ==
1.1	34
94.1	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:
1.1	36
	37	1. Start with a number sign # (U+0023)
	38	1. Servo ID number as an integer
	39	1. Action command (one to three letters, no spaces, capital or lower case)
	40	1. Action value in the correct units with no decimal
	41	1. Modifier command (one letter)
	42	1. Modifier value in the correct units with no decimal
	43	1. End with a control / carriage return '<cr>'
	44
	45	Ex: #5P1456T1263<cr>
	46
94.1	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.
1.1	48	)))
	49
	50	== Query Commands ==
	51
94.1	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:
1.1	53
	54	1. Start with a number sign # (U+0023)
	55	1. Servo ID number as an integer
	56	1. Query command (one to three letters, no spaces, capital or lower case)
	57	1. End with a control / carriage return '<cr>'
	58
	59	(((
	60	Ex: #5QD<cr>Query position in degrees for servo #5
	61	)))
	62
	63	(((
93.1	64	The query will return a serial string (almost instantaneously) via the servo's Tx pin with the following format:
1.1	65
93.1	66	1. Start with an asterisk * (U+002A)
1.1	67	1. Servo ID number as an integer
	68	1. Query command (one to three letters, no spaces, capital letters)
	69	1. The reported value in the units described, no decimals.
	70	1. End with a control / carriage return '<cr>'
	71
94.1	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:
93.1	73
1.1	74	(((
	75	Ex: *5QD1443<cr>
	76	)))
	77
94.1	78	This indicates that servo #5 is currently at 144.3 degrees (1443 tenths of degrees).
1.1	79
96.1	80	== Configuration Commands ==
	81
125.1	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-radio-control-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:
96.1	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
16.1	94	Session vs Configuration Query
1.1	95
94.1	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:
1.1	97
94.1	98	Ex: #5CSR20<cr> immediately sets the maximum speed for servo #5 to 20rpm (explained below) and changes the value in memory.
1.1	99
94.1	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:
1.1	101
94.1	102	#5QSR<cr> would return *5QSR4<cr> which represents the value for that session, whereas
1.1	103
16.1	104	#5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
56.1	105
65.2	106	== Virtual Angular Position ==
56.1	107
94.1	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).
56.1	109
	110	[[image:LSS-servo-positions.jpg]]
	111
94.1	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:
56.1	113
93.1	114	#1D-300<cr> This causes the servo to move to -30.0 degrees (green arrow)
56.1	115
	116	#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
	117
94.1	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.
56.1	119
	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
	122	#1D4800<cr> This new command is sent which would then cause the servo to rotate from -420.0 degrees to 480.0 degrees (blue arrow), which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations.
	123
	124	#1D3300<cr> would cause the servo to rotate from 480.0 degrees to 330.0 degrees (yellow arrow).
	125
	126	If / once the servo loses power or is power cycled, it also loses the virtual position associated with that session. For example, if the virtual position was 480.0 degrees before power is cycled, upon power up the servo's position will be read as +120.0 degrees from zero (assuming center position has not been modified).
16.1	127	)))
1.1	128
	129	= Command List =
	130
99.1	131	== Regular ==
	132
98.1	133	\|= #\|=Description\|= Action\|= Query\|= Config\|=Session\|= RC\|= Serial\|= Units\|=(% style="width: 510px;" %) Notes\|=(% style="width: 113px;" %)Default Value
	134	\| 1\|[[Limp>>\|\|anchor="H1.Limp28L29"]]\| L\| \| \| \| \| ✓\|none\|(% style="width:510px" %) \|(% style="text-align:center; width:113px" %)
	135	\| 2\|[[Halt & Hold>>\|\|anchor="H2.Halt26Hold28H29"]]\| H\| \| \| \| \| ✓\|none\|(% style="width:510px" %) \|(% style="text-align:center; width:113px" %)
98.8	136	\| 3\|[[Timed move>>\|\|anchor="H3.Timedmove28T29modifier"]]\| T\| \| \| \| \| ✓\|milliseconds\|(% style="width:510px" %) Modifier only for {P, D, MD}\|(% style="text-align:center; width:113px" %)
128.1	137	\| 4\|[[Speed>>\|\|anchor="H4.Speed28S29modifier"]]\| S\|QS\| \| \| \| ✓\|microseconds per second\|(% style="width:510px" %) Modifier only {P}\|(% style="text-align:center; width:113px" %)
98.1	138	\| 5\|[[Move in Degrees (relative)>>\|\|anchor="H5.28Relative29MoveinDegrees28MD29"]]\| MD\| \| \| \| \| ✓\|tenths of degrees (ex 325 = 32.5 degrees)\|(% style="width:510px" %) \|(% style="text-align:center; width:113px" %)
	139	\| 6\|[[Origin Offset>>\|\|anchor="H6.OriginOffsetAction28O29"]]\| O\| QO\|CO\|✓\| ✓\| ✓\|tenths of degrees (ex 91 = 9.1 degrees)\|(% style="width:510px" %) \|(% style="text-align:center; width:113px" %)(((
93.1	140	0
92.1	141	)))
98.1	142	\| 7\|[[Angular Range>>\|\|anchor="H7.AngularRange28AR29"]]\| AR\| QAR\| CAR\|✓\| ✓\| ✓\|tenths of degrees \|(% style="width:510px" %) \|(% style="text-align:center; width:113px" %)(((
93.1	143	1800
92.1	144	)))
98.1	145	\| 8\|[[Position in Pulse>>\|\|anchor="H8.PositioninPulse28P29"]]\| P\| QP\| \| \| \| ✓\|microseconds\|(% style="width:510px" %)(((
93.1	146	Inherited from SSC-32 serial protocol
	147	)))\|(% style="text-align:center; width:113px" %)
98.5	148	\| 9\|[[Position in Degrees>>\|\|anchor="H9.PositioninDegrees28D29"]]\| D\| QD / QDT\| \| \| \| ✓\|tenths of degrees \|(% style="width:510px" %) \|(% style="text-align:center; width:113px" %)
98.1	149	\| 10\|[[Wheel mode in Degrees>>\|\|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" %)
	150	\| 11\|[[Wheel mode in RPM>>\|\|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" %)
107.1	151	\| 12\|[[Max Speed in Degrees>>\|\|anchor="H12.MaxSpeedinDegrees28SD29"]]\| SD\| QSD\|CSD\|✓\| ✓\| ✓\|degrees per second (°/s)\|(% style="width:510px" %)(((
94.1	152	QSD: Add modifier "2" for instantaneous speed.
	153
	154	SD overwrites SR / CSD overwrites CSR and vice-versa.
	155	)))\|(% style="text-align:center; width:113px" %)Max per servo
98.12	156	\| 13\|[[Max Speed in RPM>>\|\|anchor="H13.MaxSpeedinRPM28SR29"]]\| SR\| QSR\|CSR\|✓\| ✓\| ✓\|revolutions per minute (rpm)\|(% style="width:510px" %)(((
94.1	157	QSR: Add modifier "2" for instantaneous speed
	158
	159	SR overwrites SD / CSR overwrites CSD and vice-versa.
	160	)))\|(% style="text-align:center; width:113px" %)Max per servo
98.14	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
98.15	162	\| 15\|[[Gyre 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
98.19	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
129.2	164	\| 17\|[[Baud rate>>\|\|anchor="H17.BaudRate"]]\| \| QB\| CB\| \| \| ✓\|none (integer)\|(% style="width:510px" %) \|(% style="text-align:center; width:113px" %)115200
114.1	165	\| 18\|//{coming soon}//\| \| \| \| \| \| \| \|(% style="width:510px" %) \|(% style="text-align:center; width:113px" %)(((
	166
92.1	167	)))
98.26	168	\| 19\|[[First Position (Deg)>>\|\|anchor="H19.FirstPosition28Degrees2928FD29"]]\| \| QFD\|CFD\|X\| ✓\| ✓\|none \|(% style="width:510px" %)CFD overwrites CFP and vice-versa\|(% style="text-align:center; width:113px" %)Limp
98.20	169	\| 20\|[[Model String>>\|\|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 Number>>\|\|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\|[[Firmware version>>\|\|anchor="H22.QueryFirmware28QF29"]]\| \| QF\| \| \| \| \|none (integer)\|(% style="width:510px" %) \|(% style="text-align:center; width:113px" %)
	172	\| 23\|[[Query (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\|[[Voltage>>\|\|anchor="H24.QueryVoltage28QV29"]]\| \| QV\| \| \| \| ✓\|millivolts (ex 5936 = 5936mV = 5.936V)\|(% style="width:510px" %) \|(% style="text-align:center; width:113px" %)
	174	\| 25\|[[Temperature>>\|\|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\|[[Current>>\|\|anchor="H26.QueryCurrent28QC29"]]\| \| QC\| \| \| \| ✓\|milliamps (ex 200 = 0.2A)\|(% style="width:510px" %) \|(% style="text-align:center; width:113px" %)
98.36	176	\| 27\|[[Change to RC>>\|\|anchor="H27.ConfigureRCMode28CRC29"]]\| \| \|CRC\|✓\| \| ✓\|none\|(% style="width:510px" %)(((
	177	Change to RC mode 1 (position) or 2 (wheel).
93.1	178	)))\|(% style="text-align:center; width:113px" %)Serial
98.36	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" %)
1.1	182
93.1	183	== Advanced ==
	184
112.1	185	\|= #\|=Description\|= Action\|= Query\|= Config\|=Session\|= RC\|= Serial\|= Units\|=(% style="width: 510px;" %) Notes
	186	\| A1\|[[Angular Stiffness>>\|\|anchor="HA1.AngularStiffness28AS29"]]\|AS\|QAS\|CAS\|✓\| ✓\| ✓\|none (integer -4 to +4)\|(% style="width:510px" %)Suggested values are between 0 to +4
	187	\| A2\|[[Angular Holding Stiffness>>\|\|anchor="HA2.AngularHoldingStiffness28AH29"]]\|AH\|QAH\|CAH\|✓\| \| ✓\|none (integer -10 to +10)\|(% style="width:510px" %)Effect is different between serial and RC
	188	\| A3\|[[Angular Acceleration>>\|\|anchor="HA3:AngularAcceleration28AA29"]]\|AA\|QAA\|CAA\|✓\| \| ✓\|degrees per second squared\|(% style="width:510px" %)Increments of 10 degrees per second squared
	189	\| A4\|[[Angular Deceleration>>\|\|anchor="HA4:AngularDeceleration28AD29"]]\|AD\|QAD\|CAD\|✓\| \| ✓\|degrees per second squared\|(% style="width:510px" %)Increments of 10 degrees per second squared
	190	\| A5\|[[Enable Motion Control>>\|\|anchor="HA5:MotionControl28EM29"]]\|EM\|QEM\| \| \| \| ✓\|none\|(% style="width:510px" %)EM0 to disable motion control, EM1 to enable
126.1	191	\| A6\|[[Configure LED Blinking>>\|\|anchor="HA6.ConfigureLEDBlinking28CLB29"]]\| \|QLB\| CLB\| \| ✓\| ✓\|none (integer from 0 to 63)\|(% style="width:510px" %)(((
96.1	192	0=No blinking, 63=Always blink;
93.1	193
127.1	194	Blink while: 1=Limp; 2=Holding; 4=Accel; 8=Decel; 16=Free 32=Travel;
112.1	195	)))
96.1	196
64.3	197	== Details ==
1.1	198
64.15	199	====== __1. Limp (L)__ ======
1.1	200
	201	Example: #5L<cr>
	202
	203	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>.
	204
64.16	205	====== __2. Halt & Hold (H)__ ======
1.1	206
	207	Example: #5H<cr>
	208
96.1	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.
1.1	210
98.3	211	====== __3. Timed move (T) modifier__ ======
1.1	212
	213	Example: #5P1500T2500<cr>
	214
96.1	215	Timed move can be used only as a modifier for a position (P, D, MD) actions. The units are in milliseconds, so a timed move of 2500 milliseconds would cause the servo to rotate from its current position to the desired position in 2.5 seconds. The onboard controller will attempt to ensure that the move is performed entirely at the desired velocity, though differences in torque may cause it to not be exact. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.
1.1	216
72.1	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
98.3	219	====== __4. Speed (S) modifier__ ======
1.1	220
	221	Example: #5P1500S750<cr>
	222
	223	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.
	224
129.1	225	Query Speed (QS)
	226
	227	Example: #5QS<cr> might return *5QS300<cr>
	228
	229	This command queries the current speed in microseconds per second.
	230
64.16	231	====== __5. (Relative) Move in Degrees (MD)__ ======
1.1	232
	233	Example: #5MD123<cr>
	234
	235	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.
	236
64.16	237	====== __6. Origin Offset Action (O)__ ======
1.1	238
	239	Example: #5O2400<cr>
	240
96.1	241	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).
1.1	242
	243	[[image:LSS-servo-default.jpg]]
	244
96.1	245	In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
1.1	246
	247	[[image:LSS-servo-origin.jpg]]
	248
	249	Origin Offset Query (QO)
	250
	251	Example: #5QO<cr> Returns: *5QO-13
	252
96.1	253	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.
1.1	254
	255	Configure Origin Offset (CO)
	256
	257	Example: #5CO-24<cr>
	258
96.1	259	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.
1.1	260
64.16	261	====== __7. Angular Range (AR)__ ======
1.1	262
	263	Example: #5AR1800<cr>
	264
96.1	265	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:
1.1	266
	267	[[image:LSS-servo-default.jpg]]
	268
96.1	269	Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
1.1	270
	271	[[image:LSS-servo-ar.jpg]]
	272
96.1	273	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:
1.1	274
	275	[[image:LSS-servo-ar-o-1.jpg]]
	276
	277	Query Angular Range (QAR)
	278
96.1	279	Example: #5QAR<cr> might return *5AR1800, indicating the total angular range is 180.0 degrees.
1.1	280
	281	Configure Angular Range (CAR)
	282
	283	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.
	284
64.16	285	====== __8. Position in Pulse (P)__ ======
1.1	286
	287	Example: #5P2334<cr>
	288
103.1	289	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.
1.1	290
	291	Query Position in Pulse (QP)
	292
37.1	293	Example: #5QP<cr> might return *5QP2334
1.1	294
11.1	295	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.
37.1	296	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).
1.1	297
64.16	298	====== __9. Position in Degrees (D)__ ======
1.1	299
130.2	300	Example: #5D1456<cr>
1.1	301
	302	This moves the servo to an angle of 145.6 degrees, where the center (0) position is centered. Negative values (ex. -176 representing -17.6 degrees) are used. A full circle would be from -1800 to 1800 degrees. A value of 2700 would be the same angle as -900, except the servo would move in a different direction.
	303
	304	Larger values are permitted and allow for multi-turn functionality using the concept of virtual position.
	305
	306	Query Position in Degrees (QD)
	307
37.1	308	Example: #5QD<cr> might return *5QD132<cr>
1.1	309
37.1	310	This means the servo is located at 13.2 degrees.
	311
98.5	312	(% class="wikigeneratedid" id="H22.QueryTargetPositioninDegrees28QDT29" %)
	313	Query Target Position in Degrees (QDT)
	314
	315	Ex: #5QDT<cr> might return *5QDT6783<cr>
	316
	317	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>).
	318
64.16	319	====== __10. Wheel Mode in Degrees (WD)__ ======
1.1	320
	321	Ex: #5WD900<cr>
	322
	323	This command sets the servo to wheel mode where it will rotate in the desired direction at the selected speed. The example above would have the servo rotate at 90.0 degrees per second clockwise (assuming factory default configurations).
	324
	325	Query Wheel Mode in Degrees (QWD)
	326
	327	Ex: #5QWD<cr> might return *5QWD900<cr>
	328
	329	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).
	330
64.16	331	====== __11. Wheel Mode in RPM (WR)__ ======
1.1	332
	333	Ex: #5WR40<cr>
	334
	335	This command sets the servo to wheel mode where it will rotate in the desired direction at the selected rpm. Wheel mode (a.k.a. "continuous rotation") has the servo operate like a geared DC motor. The servo's maximum rpm cannot be set higher than its physical limit at a given voltage. The example above would have the servo rotate at 40 rpm clockwise (assuming factory default configurations).
	336
	337	Query Wheel Mode in RPM (QWR)
	338
	339	Ex: #5QWR<cr> might return *5QWR40<cr>
	340
	341	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).
	342
98.2	343	====== __12. Max Speed in Degrees (SD)__ ======
1.1	344
	345	Ex: #5SD1800<cr>
	346
98.2	347	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.
1.1	348
	349	Query Speed in Degrees (QSD)
	350
	351	Ex: #5QSD<cr> might return *5QSD1800<cr>
	352
98.2	353	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.
23.1	354	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:
1.1	355
24.1	356	\|Command sent\|Returned value (1/10 °)
32.1	357	\|ex: #5QSD<cr>\|Session value for maximum speed (set by latest SD/SR command)
98.2	358	\|ex: #5QSD1<cr>\|Configured maximum speed in EEPROM (set by CSD/CSR)
32.1	359	\|ex: #5QSD2<cr>\|Instantaneous speed (same as QWD)
	360	\|ex: #5QSD3<cr>\|Target travel speed
23.1	361
1.1	362	Configure Speed in Degrees (CSD)
	363
	364	Ex: #5CSD1800<cr>
	365
	366	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.
	367
98.2	368	====== __13. Max Speed in RPM (SR)__ ======
1.1	369
	370	Ex: #5SD45<cr>
	371
98.2	372	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.
1.1	373
	374	Query Speed in Degrees (QSR)
	375
	376	Ex: #5QSR<cr> might return *5QSR45<cr>
	377
98.2	378	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.
25.1	379	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:
1.1	380
25.1	381	\|Command sent\|Returned value (1/10 °)
32.1	382	\|ex: #5QSR<cr>\|Session value for maximum speed (set by latest SD/SR command)
98.2	383	\|ex: #5QSR1<cr>\|Configured maximum speed in EEPROM (set by CSD/CSR)
32.1	384	\|ex: #5QSR2<cr>\|Instantaneous speed (same as QWR)
	385	\|ex: #5QSR3<cr>\|Target travel speed
1.1	386
25.1	387	Configure Speed in RPM (CSR)
	388
1.1	389	Ex: #5CSR45<cr>
	390
98.2	391	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.
1.1	392
98.3	393	====== __14. LED Color (LED)__ ======
15.1	394
1.1	395	Ex: #5LED3<cr>
	396
	397	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.
	398
130.2	399	0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;
1.1	400
	401	Query LED Color (QLED)
	402
	403	Ex: #5QLED<cr> might return *5QLED5<cr>
	404
	405	This simple query returns the indicated servo's LED color.
	406
	407	Configure LED Color (CLED)
	408
98.3	409	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.
1.1	410
98.4	411	====== __15. Gyre Rotation Direction (G)__ ======
1.1	412
98.4	413	"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).
	414
	415	Ex: #5G-1<cr>
	416
	417	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.
	418
	419	Query Gyre Direction (QG)
	420
	421	Ex: #5QG<cr> might return *5QG-1<cr>
	422
	423	The value returned above means the servo is in a counter-clockwise gyration.
	424
	425	Configure Gyre (CG)
	426
	427	Ex: #5CG-1<cr>
	428
	429	This changes the gyre direction as described above and also writes to EEPROM.
	430
98.18	431	====== __16. Identification Number (ID)__ ======
98.4	432
98.3	433	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).
1.1	434
	435	Query Identification (QID)
	436
38.1	437	EX: #254QID<cr> might return *QID5<cr>
1.1	438
98.3	439	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.
1.1	440
	441	Configure ID (CID)
	442
38.1	443	Ex: #4CID5<cr>
1.1	444
98.3	445	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.
1.1	446
98.7	447	====== __17. Baud Rate__ ======
1.1	448
129.2	449	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 115200. 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.
1.1	450
	451	Query Baud Rate (QB)
	452
	453	Ex: #5QB<cr> might return *5QB9600<cr>
	454
98.3	455	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.
1.1	456
	457	Configure Baud Rate (CB)
	458
98.3	459	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.
93.1	460
1.1	461	Ex: #5CB9600<cr>
	462
	463	Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
	464
114.1	465	====== __18. {//Coming soon//}__ ======
1.1	466
114.1	467	Command coming soon....
1.1	468
98.27	469	====== __19. First Position (Degrees) (FD)__ ======
1.1	470
98.3	471	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.
1.1	472
	473	Query First Position in Degrees (QFD)
	474
	475	Ex: #5QFD<cr> might return *5QFD64<cr>
	476
	477	The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds.
	478
	479	Configure First Position in Degrees (CFD)
	480
	481	Ex: #5CD64<cr>
	482
98.4	483	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.
1.1	484
98.7	485	====== __20. Query Model String (QMS)__ ======
1.1	486
64.1	487	Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
1.1	488
98.37	489	This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
1.1	490
98.34	491	====== __21. Query Serial Number (QN)__ ======
64.1	492
98.37	493	Ex: #5QN<cr> might return *5QN12345678<cr>
1.1	494
98.37	495	The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
1.1	496
98.7	497	====== __22. Query Firmware (QF)__ ======
1.1	498
98.37	499	Ex: #5QF<cr> might return *5QF411<cr>
1.1	500
98.37	501	The number in the reply represents the firmware version, in this example being 411.
1.1	502
98.7	503	====== __23. Query Status (Q)__ ======
1.1	504
110.1	505	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.
98.37	506
34.1	507	Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
1.1	508
109.1	509	\|*Value returned (Q)\|Status\|Detailed description
106.1	510	\|ex: *5Q0<cr>\|0: Unknown\|LSS is unsure / unknown state
	511	\|ex: *5Q1<cr>\|1: Limp\|Motor driving circuit is not powered and horn can be moved freely
	512	\|ex: *5Q2<cr>\|2: Free moving\|Motor driving circuit is not powered and horn can be moved freely
110.1	513	\|ex: *5Q3<cr>\|3: Accelerating\|Increasing speed from rest (or previous speed) towards travel speed
106.1	514	\|ex: *5Q4<cr>\|4: Traveling\|Moving at a stable speed
	515	\|ex: *5Q5<cr>\|5: Decelerating\|Decreasing from travel speed towards final position.
	516	\|ex: *5Q6<cr>\|6: Holding\|Keeping current position
	517	\|ex: *5Q7<cr>\|7: Outside limits\|{More details coming soon}
	518	\|ex: *5Q8<cr>\|8: Stuck\|Motor cannot perform request movement at current speed setting
	519	\|ex: *5Q9<cr>\|9: Blocked\|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
110.1	520	\|ex: *5Q10<cr>\|10: Safe Mode\|(((
	521	A safety limit has been exceeded (temperature, peak current or extended high current draw).
1.1	522
110.1	523	Send a Q1 command to know which limit has been reached (described below).
	524	)))
	525
109.1	526	(% class="wikigeneratedid" %)
110.1	527	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.
109.1	528
	529	\|*Value returned (Q1)\|Status\|Detailed description
110.1	530	\|ex: *5Q0<cr>\|No limits have been passed\|Nothing is wrong
109.1	531	\|ex: *5Q1<cr>\|Current limit has been passed\|Something cause the current to either spike, or remain too high for too long
110.1	532	\|ex: *5Q2<cr>\|Input voltage detected is below or above acceptable range\|Check the voltage of your batteries or power source
109.1	533	\|ex: *5Q3<cr>\|Temperature limit has been reached\|The servo is too hot to continue operating safely.
	534
98.7	535	====== __24. Query Voltage (QV)__ ======
1.1	536
59.1	537	Ex: #5QV<cr> might return *5QV11200<cr>
1.1	538
	539	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).
	540
98.7	541	====== __25. Query Temperature (QT)__ ======
1.1	542
	543	Ex: #5QT<cr> might return *5QT564<cr>
	544
	545	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.
	546
98.7	547	====== __26. Query Current (QC)__ ======
1.1	548
	549	Ex: #5QC<cr> might return *5QC140<cr>
	550
	551	The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
	552
98.36	553	====== __27. Configure RC Mode (CRC)__ ======
42.1	554
51.1	555	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.
42.1	556
50.1	557	\|Command sent\|Note
	558	\|ex: #5CRC1<cr>\|Change to RC position mode.
	559	\|ex: #5CRC2<cr>\|Change to RC continuous (wheel) mode.
98.37	560	\|ex: #5CRC<cr>\|Where is any number or value other than 1 or 2 (or no value): stay in smart mode.
50.1	561
98.37	562	EX: #5CRC2<cr>
42.1	563
105.1	564	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.
1.1	565
122.1	566	Important note: To revert from RC mode back to serial mode, the [[LSS - Button Menu>>doc:lynxmotion-smart-servo.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.
102.1	567
98.36	568	====== __28. RESET__ ======
	569
1.1	570	Ex: #5RESET<cr> or #5RS<cr>
	571
	572	This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
	573
98.36	574	====== __29. DEFAULT & CONFIRM__ ======
1.1	575
	576	Ex: #5DEFAULT<cr>
	577
98.37	578	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.
1.1	579
12.1	580	EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
1.1	581
98.37	582	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.
1.1	583
13.1	584	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
	585
98.36	586	====== __30. UPDATE & CONFIRM__ ======
1.1	587
12.1	588	Ex: #5UPDATE<cr>
1.1	589
12.1	590	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.
1.1	591
12.1	592	EX: #5UPDATE<cr> followed by #5CONFIRM<cr>
1.1	593
12.1	594	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.
	595
13.1	596	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
98.2	597
98.37	598	= Advanced =
	599
113.1	600	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.
	601
98.2	602	====== __A1. Angular Stiffness (AS)__ ======
	603
98.37	604	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.
98.2	605
	606	A positive value of "angular stiffness":
	607
	608	* The more torque will be applied to try to keep the desired position against external input / changes
	609	* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
	610
	611	A negative value on the other hand:
	612
	613	* Causes a slower acceleration to the travel speed, and a slower deceleration
	614	* Allows the target position to deviate more from its position before additional torque is applied to bring it back
	615
98.37	616	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.
98.2	617
	618	Ex: #5AS-2<cr>
	619
	620	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.
	621
	622	Ex: #5QAS<cr>
	623
	624	Queries the value being used.
	625
	626	Ex: #5CAS<cr>
	627
	628	Writes the desired angular stiffness value to memory.
	629
98.33	630	====== __A2. Angular Holding Stiffness (AH)__ ======
98.2	631
113.1	632	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.
98.2	633
	634	Ex: #5AH3<cr>
	635
	636	This sets the holding stiffness for servo #5 to 3 for that session.
	637
	638	Query Angular Hold Stiffness (QAH)
	639
	640	Ex: #5QAH<cr> might return *5QAH3<cr>
	641
	642	This returns the servo's angular holding stiffness value.
	643
	644	Configure Angular Hold Stiffness (CAH)
	645
	646	Ex: #5CAH2<cr>
	647
113.1	648	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.
98.2	649
	650	====== __A3: Angular Acceleration (AA)__ ======
	651
111.1	652	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.
98.2	653
111.1	654	Ex: #5AA30<cr>
	655
	656	Query Angular Acceleration (QAD)
	657
	658	Ex: #5QA<cr> might return *5QA30<cr>
	659
	660	Configure Angular Acceleration (CAD)
	661
	662	Ex: #5CA30<cr>
	663
98.2	664	====== __A4: Angular Deceleration (AD)__ ======
	665
111.1	666	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.
98.2	667
111.1	668	Ex: #5AD8<cr>
	669
	670	Query Angular Deceleration (QAD)
	671
	672	Ex: #5QD<cr> might return *5QD8<cr>
	673
	674	Configure Angular Deceleration (CAD)
	675
	676	Ex: #5CD8<cr>
	677
98.2	678	====== __A5: Motion Control (EM)__ ======
	679
115.1	680	The command EM0 disables use of the motion controller (acceleration, velocity / travel, deceleration). As such, the servo will move at full speed for all motion commands. The command EM1 enables use of the motion controller.
98.2	681
115.1	682	Note that if the modifiers S or T are used, it is assumed that motion control is desired, and for that command, EM1 will be used.
	683
98.2	684	====== __A6. Configure LED Blinking (CLB)__ ======
	685
108.1	686	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:
98.2	687
98.37	688	(% style="width:195px" %)
	689	\|(% style="width:134px" %)Blink While:\|(% style="width:58px" %)#
	690	\|(% style="width:134px" %)No blinking\|(% style="width:58px" %)0
	691	\|(% style="width:134px" %)Limp\|(% style="width:58px" %)1
	692	\|(% style="width:134px" %)Holding\|(% style="width:58px" %)2
	693	\|(% style="width:134px" %)Accelerating\|(% style="width:58px" %)4
	694	\|(% style="width:134px" %)Decelerating\|(% style="width:58px" %)8
	695	\|(% style="width:134px" %)Free\|(% style="width:58px" %)16
	696	\|(% style="width:134px" %)Travelling\|(% style="width:58px" %)32
	697	\|(% style="width:134px" %)Always blink\|(% style="width:58px" %)63
	698
98.2	699	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:
	700
	701	Ex: #5CLB0<cr> to turn off all blinking (LED always solid)
98.37	702	Ex: #5CLB1<cr> only blink when limp (1)
	703	Ex: #5CLB2<cr> only blink when holding (2)
	704	Ex: #5CLB12<cr> only blink when accel or decel (accel 4 + decel 8 = 12)
	705	Ex: #5CLB48<cr> only blink when free or travel (free 16 + travel 32 = 48)
	706	Ex: #5CLB63<cr> blink in all status (1 + 2 + 4 + 8 + 16 + 32)
108.1	707
	708	RESETTING the servo is needed.

Wiki source code of LSS - Communication Protocol

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