Wiki source code of LSS Communication Protocol

Last modified by Eric Nantel on 2024/11/21 09:43

64.5	1	{{toc depth="3"/}}
	2
139.1	3	= Serial Protocol =
64.19	4
172.1	5	The Lynxmotion Smart Servo (LSS) serial protocol was created in order to be as simple and straightforward as possible from a user perspective ("human readable format"), while at the same time staying compact and robust yet highly versatile. The protocol was based on Lynxmotion's SSC-32 & SSC-32U RC servo controllers and almost everything one might expect to be able to configure for a smart servomotor is available.
1.1	6
213.1	7	In order to be able to control each servo individually with commands, the first step should be to assign a different ID number to each servo (see details on the Configure ID, or "CID" command [[here>>path:#HIdentificationNumber28ID29]]). Only the servo(s) which have been configured to a specific ID will act on a command sent to that ID. There is currently no CRC or checksum implemented as part of the protocol.
93.1	8
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64.2	10	== Session ==
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	13	A "session" is defined as the time between when the servo is powered ON to when it is powered OFF or reset.
1.1	14
213.1	15	Note 1: For a given session, the action related to a specific command overrides the stored value in EEPROM.
1.1	16
213.1	17	Note 2: During the power-on / reset process the LSS cannot accept commands for a small amount of time (1.25 s).
96.1	18
213.1	19	Note 3: You can ensure the LSS is ready by using a query command to check for response (ex: #[id]Q\r or #[id]QID\r described below). If the LSS is ready for commands (initialized) it will respond to the query. A timeout between 50-100 ms is recommended to compensate for drivers, OS and buffering delays.
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	21
	22	\|(% colspan="2" %)(((
1.1	23	== Action Commands ==
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	26	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>>url:https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-v2/lynxmotion-smart-servo/lss-communication-protocol/#HVirtualAngularPosition]] (described below). Action commands are sent serially to the servo's Rx pin and must be sent in the following format:
1.1	27
213.1	28	1. Start with a number sign # (Unicode Character: U+0023)
194.2	29	1. Servo ID number as an integer (assigning an ID described below)
	30	1. Action command (one or more letters, no whitespace, capital or lowercase from the list below)
1.1	31	1. Action value in the correct units with no decimal
213.1	32	1. End with a carriage return \r or <cr> Unicode Character (U+000D)
1.1	33
213.1	34	Ex: #5D1800<cr>
1.1	35
172.1	36	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 (1800 in tenths of degrees) of 180.0 degrees. Any servo on the bus which does not have ID 5 will take no action when receiving this command.
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1.1	38
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172.1	40	== Modifiers ==
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	43	Modifiers can only be used with certain action commands. The format to include a modifier is:
1.1	44
213.1	45	1. Start with a number sign # (Unicode Character: U+0023)
1.1	46	1. Servo ID number as an integer
194.2	47	1. Action command (one to three letters, no spaces, capital or lowercase from a subset of action commands below)
1.1	48	1. Action value in the correct units with no decimal
213.1	49	1. Modifier command (one or two letters from the list of modifiers below)
1.1	50	1. Modifier value in the correct units with no decimal
213.1	51	1. End with a carriage return \r or <cr> Unicode Character (U+000D)
1.1	52
213.1	53	Ex: #5D1800T1500<cr>
1.1	54
213.1	55	This results in the servo with ID #5 rotating to a position (1800 in tenths of degrees) of 180.0 degrees in a time ("T") of 1500 milliseconds (1.5 seconds).
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1.1	57
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1.1	59	== Query Commands ==
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	61	\|(% style="width:25px" %) \|(((
	62	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	63
213.1	64	1. Start with a number sign # (Unicode Character: U+0023)
1.1	65	1. Servo ID number as an integer
172.1	66	1. Query command (one to four letters, no spaces, capital or lower case)
213.1	67	1. End with a carriage return \r or <cr> Unicode Character (U+000D)
1.1	68
213.1	69	Ex: #5QD<cr> Query the position in (tenth of) degrees for servo with ID #5
1.1	70
93.1	71	The query will return a serial string (almost instantaneously) via the servo's Tx pin with the following format:
1.1	72
172.1	73	1. Start with an asterisk * (Unicode Character: U+0023)
1.1	74	1. Servo ID number as an integer
172.1	75	1. Query command (one to four letters, no spaces, capital letters)
1.1	76	1. The reported value in the units described, no decimals.
213.1	77	1. End with a carriage return \r or <cr> Unicode Character (U+000D)
1.1	78
213.1	79	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 to multiple servos 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 query command. A reply to the query sent above might be:
93.1	80
213.1	81	Ex: *5QD1800<cr>
1.1	82
172.1	83	This indicates that servo #5 is currently at 180.0 degrees (1800 tenths of degrees).
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1.1	85
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96.1	87	== Configuration Commands ==
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	90	Configuration commands and corresponding values affect a servo's defaults which are written to and read from the servo's EEPROM.
96.1	91
213.1	92	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>>url:https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-radio-control-pwm/]]. Configuration commands are not cumulative. This means that if two of the same configuration commands are sent, one after the next, only the last configuration is used and stored.
96.1	93
213.1	94	The format to send a configuration command is identical to that of an action command:
172.1	95
213.1	96	1. Start with a number sign # (Unicode Character: U+0023)
96.1	97	1. Servo ID number as an integer
172.1	98	1. Configuration command (two to four letters, no spaces, capital or lower case)
96.1	99	1. Configuration value in the correct units with no decimal
213.1	100	1. End with a carriage return \r or <cr> Unicode Character (U+000D)
96.1	101
213.1	102	Ex: #5CO-50<cr>
96.1	103
213.1	104	This configures an absolute origin offset ("CO") with respect to factory origin of 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 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 that clears all configurations (through the button menu or with DEFAULT command described below).
96.1	105
213.1	106	Session vs Configuration Query
1.1	107
213.1	108	By default, the query command returns the session's 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	109
213.1	110	Ex: #5CSR20<cr> immediately sets the maximum speed for servo #5 to 20rpm (explained below) and changes the value in memory.
1.1	111
213.1	112	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	113
213.1	114	#5QSR<cr> or #5QSR0<cr> would return *5QSR4<cr> which represents the value for that session, whereas
1.1	115
213.1	116	#5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
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56.1	118
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65.2	120	== Virtual Angular Position ==
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	122	\|(% style="width:25px" %) \|(((
	123	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. 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	124
213.1	125	[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-v2/lynxmotion-smart-servo/lss-communication-protocol/WebHome/LSS-servo-positions.jpg\|\|alt="LSS-servo-positions.jpg"]]
56.1	126
213.1	127	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	128
213.1	129	#1D-300<cr> This causes the servo to move to -30.0 degrees (green arrow)
56.1	130
213.1	131	#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
56.1	132
213.1	133	#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	134
213.1	135	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.
56.1	136
213.1	137	#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.
56.1	138
213.1	139	#1D3300<cr> would cause the servo to rotate from 480.0 degrees to 330.0 degrees (yellow arrow).
56.1	140
172.1	141	If 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). The virtual position range at power-up is [-180.0°, 180.0°].
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1.1	143
	144	= Command List =
	145
213.1	146	Latest firmware version currently : 370
99.1	147
216.1	148	\|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Communication Setup>>path:#HCommunicationSetup]]
213.1	149	\| \|Description\|Action\|Query\|Config\|RC\|Serial\|Default\|Unit\|Notes
216.1	150	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Reset>>path:#HReset]]\|RESET\| \| \| \|✓\| \| \|Soft reset. See command for details.
	151	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Default Configuration>>path:#HDefault26confirm]]\|DEFAULT\| \| \| \|✓\| \| \|Revert to firmware default values. See command for details
	152	\| \|[[Firmware (% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Update Mode>>path:#HUpdate26confirm]]\|UPDATE\| \| \| \|✓\| \| \|Update firmware. See command for details.
	153	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Confirm Changes>>path:#HConfirm]]\|CONFIRM\| \| \| \|✓\| \| \|
	154	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Change to RC>>path:#HConfigureRCMode28CRC29]]\| \| \|CRC\| \|✓\| \| \|Change to RC mode 1 (position) or 2 (wheel).
	155	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)ID #>>path:#HIdentificationNumber28ID29]]\| \|QID\|CID\| \|✓\|0\| \|Reset required after change. ID 254 is a "broadcast" which all servos respond to.
	156	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Baudrate>>path:#HBaudRate]]\| \|QB\|CB\| \|✓\|115200\| \|Reset required after change.
94.1	157
216.1	158	\|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Motion>>path:#HMotion]]
213.1	159	\| \|Description\|Action\|Query\|Config\|RC\|Serial\|Default\|Unit\|Notes
216.1	160	\| \|[[Position in (% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Degrees>>path:#HPositioninDegrees28D29]]\|D\|QD/QDT\| \| \|✓\| \|1/10°\|
	161	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Move in Degrees (relative)>>path:#H28Relative29MoveinDegrees28MD29]]\|MD\| \| \| \|✓\| \|1/10°\|
	162	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Wheel mode in Degrees>>path:#HWheelModeinDegrees28WD29]]\|WD\|QWD/QVT\| \| \|✓\| \|°/s\|A.K.A. "Speed mode" or "Continuous rotation"
	163	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Wheel mode in RPM>>path:#HWheelModeinRPM28WR29]]\|WR\|QWR\| \| \|✓\| \|RPM\|A.K.A. "Speed mode" or "Continuous rotation"
	164	\| \|[[Position in (% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)PWM>>path:#HPositioninPWM28P29]]\|P\|QP\| \| \|✓\| \|us\|Inherited from SSC-32 serial protocol
	165	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Move in PWM (relative)>>path:#H28Relative29MoveinPWM28M29]]\|M\| \| \| \|✓\| \|us\|
	166	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Raw Duty-cycle Move>>path:#HRawDuty-cycleMove28RDM29]]\|RDM\|QMD\| \| \|✓\| \|-1023 to 1023 integer\|Positive values : CW / Negative values : CCW
	167	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Query Status>>path:#HQueryStatus28Q29]]\| \|Q\| \| \|✓\| \|1 to 8 integer\|See command description for details
	168	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Limp>>path:#HLimp28L29]]\|L\| \| \| \|✓\| \| \|
	169	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Halt & Hold>>path:#HHalt26Hold28H29]]\|H\| \| \| \|✓\| \| \|
94.1	170
216.1	171	\|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Motion Setup>>path:#HMotionSetup]]
213.1	172	\| \|Description\|Action\|Query\|Config\|RC\|Serial\|Default\|Unit\|Notes
216.1	173	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Enable Motion Profile>>path:#HEnableMotionProfile28EM29]]\|EM\|QEM\|CEM\| \|✓\|1\| \|EM1: trapezoidal motion profile / EM0: no motion profile
	174	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Filter Position Count>>path:#HFilterPositionCount28FPC29]]\|FPC\|QFPC\|CFPC\|✓\|✓\|5\| \|Affects motion only when motion profile is disabled (EM0)
	175	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Origin Offset>>path:#HOriginOffset28O29]]\|O\|QO\|CO\|✓\|✓\|0\|1/10°\|
	176	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Angular Range>>path:#HAngularRange28AR29]]\|AR\|QAR\|CAR\|✓\|✓\|1800\|1/10°\|
	177	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Angular Stiffness>>path:#HAngularStiffness28AS29]]\|AS\|QAS\|CAS\|✓\|✓\|0\|-4 to +4 integer\|Suggested values are between 0 to +4
	178	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Angular Holding Stiffness>>path:#HAngularHoldingStiffness28AH29]]\|AH\|QAH\|CAH\|✓\|✓\|4\|-10 to +10 integer\|
	179	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Angular Acceleration>>path:#HAngularAcceleration28AA29]]\|AA\|QAA\|CAA\| \|✓\|100\|°/s^^2^^\|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
	180	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Angular Deceleration>>path:#HAngularDeceleration28AD29]]\|AD\|QAD\|CAD\| \|✓\|100\|°/s^^2^^\|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
	181	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Gyre Direction>>path:#HGyreDirection28G29]]\|G\|QG\|CG\|✓\|✓\|1\| \|Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)
	182	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)First Position (Deg)>>path:#HFirstPosition]]\| \|QFD\|CFD\|✓\|✓\|No value\|1/10°\|Reset required after change.
	183	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Maximum Motor Duty>>path:#HMaximumMotorDuty28MMD29]]\|MMD\|QMMD\| \| \|✓\|1023\|255 to 1023 integer\|
	184	\| \|[[Maximum (% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Speed in Degrees>>path:#HMaximumSpeedinDegrees28SD29]]\|SD\|QSD\|CSD\|✓\|✓\|Max\|0.1°/s\|SD overwrites SR / CSD overwrites CSR and vice-versa
	185	\| \|[[Maximum (% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Speed in RPM>>path:#HMaximumSpeedinRPM28SR29]]\|SR\|QSR\|CSR\|✓\|✓\|Max\|RPM\|SD overwrites SR / CSD overwrites CSR and vice-versa
1.1	186
216.1	187	\|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Modifiers>>path:#HModifiers]]
213.1	188	\| \|Description\|Modifier\|Query\|Config\|RC\|Serial\|Default\|Unit\|Notes
216.1	189	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Speed>>path:#HSpeed]]\|S\|QS\| \| \|✓\| \|uS/s \|For P action command
	190	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Speed in Degrees>>path:#HSpeed]]\|SD\| \| \| \|✓\| \|0.1°/s\|For D and MD action commands
	191	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Timed move>>path:#HTimedmove28T29modifier]]\|T\| \| \| \|✓\| \|ms\|Modifier only for P, D and MD. Time can change based on load
	192	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Current Hold>>path:#HCurrentHalt26Hold28CH29modifier]]\|CH\| \| \| \|✓\| \|mA\|Modifier for D, MD, WD and WR
	193	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Current Limp>>path:#HCurrentLimp28CL29modifier]]\|CL\| \| \| \|✓\| \|mA\|Modifier for D, MD, WD and WR
93.1	194
216.1	195	\|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Telemetry>>path:#HTelemetry]]
213.1	196	\| \|Description\|Action\|Query\|Config\|RC\|Serial\|Default\|Unit\|Notes
216.1	197	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Query Voltage>>path:#HQueryVoltage28QV29]]\| \|QV\| \| \|✓\| \|mV\|
	198	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Query Temperature>>path:#HQueryTemperature28QT29]]\| \|QT\| \| \|✓\| \|1/10°C\|
	199	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Query Current>>path:#HQueryCurrent28QC29]]\| \|QC\| \| \|✓\| \|mA\|
	200	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Query Model String>>path:#HQueryModelString28QMS29]]\| \|QMS\| \| \|✓\| \| \|Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)
	201	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Query Firmware Version>>path:#HQueryFirmware28QF29]]\| \|QF\| \| \|✓\| \| \|
93.1	202
216.1	203	\|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)RGB LED>>path:#HRGBLED]]
213.1	204	\| \|Description\|Action\|Query\|Config\|RC\|Serial\|Default\|Unit\|Notes
216.1	205	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)LED Color>>path:#HLEDColor28LED29]]\|LED\|QLED\|CLED\|✓\|✓\| \|0 to 7 integer\|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White
	206	\| \|[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)Configure LED Blinking>>path:#HConfigureLEDBlinking28CLB29]]\| \| \|CLB\|✓\|✓\| \|0 to 63 integer\|Reset required after change. See command for details.
96.1	207
213.1	208	= Details =
1.1	209
213.1	210	== Communication Setup ==
1.1	211
213.1	212	\|(% colspan="2" %)(((
216.1	213	====== __Reset__ ======
213.1	214	)))
	215	\|(% style="width:30px" %) \|(((
	216	Ex: #5RESET<cr>
1.1	217
213.1	218	This command does a "soft reset" and reverts all commands to those stored in EEPROM (i.e. configuration commands). Note: after a RESET command is received, the LSS will restart and perform initilization again, making it unavailable on the bus for a bit. See [[Session>>url:https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-v2/lynxmotion-smart-servo/lss-communication-protocol/#HSession]], note #2 for more details.
	219	)))
1.1	220
213.1	221	\|(% colspan="2" %)(((
216.1	222	====== __Default & confirm__ ======
213.1	223	)))
	224	\|(% style="width:30px" %) \|(((
	225	Ex: #5DEFAULT<cr>
1.1	226
213.1	227	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	228
213.1	229	Ex: #5DEFAULT<cr> followed by #5CONFIRM<cr>
1.1	230
213.1	231	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	232
213.1	233	Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
	234	)))
1.1	235
213.1	236	\|(% colspan="2" %)(((
216.1	237	====== __Update & confirm__ ======
213.1	238	)))
	239	\|(% style="width:30px" %) \|(((
	240	Ex: #5UPDATE<cr>
1.1	241
213.1	242	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.
72.1	243
213.1	244	Ex: #5UPDATE<cr> followed by #5CONFIRM<cr>
1.1	245
213.1	246	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.
1.1	247
213.1	248	Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
	249	)))
1.1	250
213.1	251	\|(% colspan="2" %)(((
216.1	252	====== __Confirm__ ======
213.1	253	)))
	254	\|(% style="width:30px" %) \|(((
	255	Ex: #5CONFIRM<cr>
161.1	256
213.1	257	This command is used to confirm changes after a Default or Update command.
129.1	258
213.1	259	Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
	260	)))
185.1	261
213.1	262	\|(% colspan="2" %)(((
216.1	263	====== __Configure RC Mode (CRC)__ ======
213.1	264	)))
	265	\|(% style="width:30px" %) \|(((
	266	This command puts the servo into RC mode (position or continuous), where it will only respond to RC PWM signal on the servo's Rx pin. In this mode, the servo will no longer accept serial commands. The servo can be placed back into smart mode by using the button menu.
185.1	267
213.1	268	Ex: #5CRC1<cr>
185.1	269
213.1	270	Change to RC position mode.
185.1	271
213.1	272	Ex: #5CRC2<cr>
129.1	273
213.1	274	Change to RC continuous rotation (wheel) mode.
129.1	275
213.1	276	Ex: #5CRC*<cr>
1.1	277
213.1	278	Where * is any value other than 1 or 2 (or no value): stay in smart mode
1.1	279
213.1	280	Ex: #5CRC2<cr>
1.1	281
213.1	282	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	283
213.1	284	Important note: To revert from RC mode back to serial mode, the [[LSS - Button Menu>>url:https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-button-menu/]] 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.
	285	)))
1.1	286
213.1	287	\|(% colspan="2" %)(((
216.1	288	====== __Identification Number (ID)__ ======
213.1	289	)))
	290	\|(% style="width:30px" %) \|(((
	291	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.
1.1	292
213.1	293	Query Identification (QID)
1.1	294
213.1	295	EX: #254QID<cr> might return *QID5<cr>
1.1	296
213.1	297	When using the broadcast 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. 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	298
213.1	299	Configure ID (CID)
1.1	300
213.1	301	Ex: #4CID5<cr>
1.1	302
213.1	303	Setting a servo's ID in EEPROM is done via the CID command. All servos connected to the same serial bus that have 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.
	304	)))
1.1	305
213.1	306	\|(% colspan="2" %)(((
216.1	307	====== __Baud Rate__ ======
213.1	308	)))
	309	\|(% style="width:30px" %) \|(((
	310	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 command, all servos in a project should 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, 750.0 kbps, 921.6 kbps. Servos are shipped with a baud rate set to 115200.
1.1	311
213.1	312	Query Baud Rate (QB)
1.1	313
213.1	314	Ex: #5QB<cr> might return *5QB115200<cr>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	315
213.1	316	Configure Baud Rate (CB)
1.1	317
213.1	318	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.
1.1	319
213.1	320	Ex: #5CB9600<cr>
1.1	321
213.1	322	Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
	323	)))
1.1	324
213.1	325	\|(% colspan="2" %)(((
207.1	326	====== __Automatic Baud Rate__ ======
213.1	327	)))
	328	\|(% style="width:30px" %) \|(((
	329	This option allows the LSS to listen to it's serial input and select the right baudrate automatically.
207.1	330
213.1	331	Query Automatic Baud Rate (QABR)
208.1	332
213.1	333	Ex: #5QABR<cr> might return *5ABR0<cr>
208.1	334
213.1	335	Enable Baud Rate (ABR)
208.2	336
213.1	337	Ex: #5QABR1<cr>
208.1	338
213.1	339	Enable baudrate detection on first byte received after power-up.
208.1	340
213.1	341	Ex: #5QABR2,30<cr>Enable baudrate detection on first byte received after power-up. If no data for 30 seconds enable detection again on next byte.
209.1	342
213.1	343	Warning: ABR doesnt work well with LSS Config at the moment.
	344	)))
207.1	345
172.1	346	== Motion ==
1.1	347
213.1	348	\|(% colspan="2" %)(((
172.1	349	====== __Position in Degrees (D)__ ======
213.1	350	)))
	351	\|(% style="width:30px" %) \|(((
	352	Ex: #5D1456<cr>
1.1	353
213.1	354	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) could also be used. A full circle would be from -1800 to 1800 degrees. A value of 2700 would be the same angle (absolute position) as -900, except the servo would move in a different direction.
1.1	355
213.1	356	Larger values are permitted and allow for multi-turn functionality using the concept of virtual position (explained above).
1.1	357
213.1	358	Query Position in Degrees (QD)
1.1	359
213.1	360	Ex: #5QD<cr> might return *5QD132<cr>
1.1	361
213.1	362	This means the servo is located at 13.2 degrees.
1.1	363
213.1	364	Query Target Position in Degrees (QDT)
1.1	365
213.1	366	Ex: #5QDT<cr> might return *5QDT6783<cr>
1.1	367
172.1	368	The query target position command returns the target virtual position 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 with the last target position used.
213.1	369	)))
1.1	370
213.1	371	\|(% colspan="2" %)(((
216.1	372	====== __(Relative) Move in Degrees (MD)__ ======
213.1	373	)))
	374	\|(% style="width:30px" %) \|(((
	375	Ex: #5MD123<cr>
1.1	376
172.1	377	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.
213.1	378	)))
1.1	379
213.1	380	\|(% colspan="2" %)(((
216.1	381	====== __Wheel Mode in Degrees (WD)__ ======
213.1	382	)))
	383	\|(% style="width:30px" %) \|(((
	384	Ex: #5WD90<cr>
1.1	385
213.1	386	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).
1.1	387
213.1	388	Query Wheel Mode in Degrees (QWD)
1.1	389
213.1	390	Ex: #5QWD<cr> might return *5QWD90<cr>
1.1	391
172.1	392	The servo replies with the angular speed in degrees per second. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
213.1	393	)))
98.5	394
213.1	395	\|(% colspan="2" %)(((
216.1	396	====== __Wheel Mode in RPM (WR)__ ======
213.1	397	)))
	398	\|(% style="width:30px" %) \|(((
	399	Ex: #5WR40<cr>
98.5	400
213.1	401	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).
98.5	402
213.1	403	Query Wheel Mode in RPM (QWR)
1.1	404
213.1	405	Ex: #5QWR<cr> might return *5QWR40<cr>
1.1	406
172.1	407	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).
213.1	408	)))
1.1	409
213.1	410	\|(% colspan="2" %)(((
216.1	411	====== __Position in PWM (P)__ ======
213.1	412	)))
	413	\|(% style="width:30px" %) \|(((
	414	Ex: #5P2334<cr>
1.1	415
213.1	416	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 signal and is further explained in the SSC-32 and [[SSC-32U manuals>>url:https://www.robotshop.com/media/files/pdf2/lynxmotion_ssc-32u_usb_user_guide.pdf#page=24]]. Without any modifications to configuration considered, and a ±90.0 degrees standard range where 1500 microseconds is centered, a PWM signal 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	417
213.1	418	Query Position in Pulse (QP)
1.1	419
213.1	420	Ex: #5QP<cr> might return *5QP2334
1.1	421
213.1	422	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. 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).
	423	)))
1.1	424
213.1	425	\|(% colspan="2" %)(((
172.1	426	====== __(Relative) Move in PWM (M)__ ======
213.1	427	)))
	428	\|(% style="width:30px" %) \|(((
	429	Ex: #5M1500<cr>
1.1	430
172.1	431	The relative move in PWM command causes the servo to read its current position and move by the specified number of PWM signal. For example if the servo is set to rotate CW (default) and an M command of 1500 is sent to the servo, it will cause the servo to rotate clockwise by 90 degrees. Negative PWM value would cause the servo to rotate in the opposite configured direction.
213.1	432	)))
1.1	433
213.1	434	\|(% colspan="2" %)(((
216.1	435	====== __Raw Duty-cycle Move (RDM)__ ======
213.1	436	)))
	437	\|(% style="width:30px" %) \|(((
	438	Ex: #5RDM512<cr>
1.1	439
213.1	440	The raw duty-cycle move command (or free move command) will rotate the servo at a specified duty cycle value in wheel mode (a.k.a. "continuous rotation") like a geared DC motor.
1.1	441
213.1	442	The duty values range from 0 to 1023. Negative values will rotate the servo in the opposite direction (for factory default a negative value would be counter clockwise).
1.1	443
213.1	444	Query Move in Duty-cycle (QMD)
1.1	445
213.1	446	Ex: #5QMD<cr> might return *5QMD512
1.1	447
172.1	448	This command queries the raw duty-cycle move value. 512 value means that the motor is rotating at 50% duty-cycle.
213.1	449	)))
1.1	450
213.1	451	\|(% colspan="2" %)(((
216.1	452	====== __Query Status (Q)__ ======
213.1	453	)))
	454	\|(% style="width:30px" %) \|(((
	455	The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
1.1	456
213.1	457	Ex: #5Q<cr> might return *5Q6<cr>
1.1	458
213.1	459	which indicates the motor is holding a position.
	460	)))
1.1	461
213.1	462	\|(% style="width:30px" %) \|*Value returned (Q)\|Status\|Detailed description
172.1	463	\| \|ex: *5Q0<cr>\|0: Unknown\|LSS is unsure / unknown state
	464	\| \|ex: *5Q1<cr>\|1: Limp\|Motor driving circuit is not powered and horn can be moved freely
	465	\| \|ex: *5Q2<cr>\|2: Free moving\|Servo is rotating in duty motion / free move using the RDM command
	466	\| \|ex: *5Q3<cr>\|3: Accelerating\|Increasing speed from rest (or previous speed) towards travel speed
	467	\| \|ex: *5Q4<cr>\|4: Traveling\|Moving at a stable speed
	468	\| \|ex: *5Q5<cr>\|5: Decelerating\|Decreasing from travel speed towards final position.
205.1	469	\| \|ex: *5Q6<cr>\|6: Holding\|Keeping current position (in EM0 mode, return will nornally be holding)
172.1	470	\| \|ex: *5Q7<cr>\|7: Outside limits\|{More details coming soon}
	471	\| \|ex: *5Q8<cr>\|8: Stuck\|Motor cannot perform request movement at current speed setting
	472	\| \|ex: *5Q9<cr>\|9: Blocked\|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
	473	\| \|ex: *5Q10<cr>\|10: Safe Mode\|(((
	474	A safety limit has been exceeded (temperature, peak current or extended high current draw).
1.1	475
172.1	476	Send a Q1 command to know which limit has been reached (described below).
	477	)))
1.1	478
213.1	479	\|(% style="width:30px" %) \|(% colspan="3" rowspan="1" %)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.
	480	\| \|*Value returned (Q1)\|Status\|Detailed description
172.1	481	\| \|ex: *5Q0<cr>\|No limits have been passed\|Nothing is wrong
	482	\| \|ex: *5Q1<cr>\|Current limit has been passed\|Something cause the current to either spike, or remain too high for too long
	483	\| \|ex: *5Q2<cr>\|Input voltage detected is below or above acceptable range\|Check the voltage of your batteries or power source
	484	\| \|ex: *5Q3<cr>\|Temperature limit has been reached\|The servo is too hot to continue operating safely.
1.1	485
213.1	486	\|(% colspan="2" %)(((
216.1	487	====== __Limp (L)__ ======
213.1	488	)))
	489	\|(% style="width:30px" %) \|(((
	490	Ex: #5L<cr>
1.1	491
213.1	492	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>.
	493	)))
1.1	494
213.1	495	\|(% colspan="2" %)(((
216.1	496	====== __Halt & Hold (H)__ ======
213.1	497	)))
	498	\|(% style="width:30px" %) \|(((
	499	Example: #5H<cr>
25.1	500
172.1	501	This command causes the servo to stop immediately and hold that angular position. It overrides whatever the servo might be doing at the time the command is received (accelerating, travelling, deccelerating, etc.)
213.1	502	)))
15.1	503
172.1	504	== Motion Setup ==
1.1	505
213.1	506	\|(% colspan="2" %)(((
216.1	507	====== __Enable Motion Profile (EM)__ ======
213.1	508	)))
	509	\|(% style="width:30px" %) \|(((
	510	EM1 (Enable Motion Profile #1) is the default mode of the LSS and is an easy way to control the servo's position with a single (serial) position command. This mode uses a trapezoidal motion profile which takes care of acceleration, constant speed travel and deceleration. Once the actual position is within a certain value of the target, it switches to a holding algorithm. The LSS commands for Angular Acceleration and Deceleration (AA/CAA/AD/CAD) Angular Stiffness (AS/CAS) and Angular holding stiffness (AH/CAH) affect this motion profile. Modifiers like SD/S and T can be used in EM1.
1.1	511
213.1	512	Ex: #5EM1<cr>
196.2	513
213.1	514	This command enables a trapezoidal motion profile for servo #5
1.1	515
213.1	516	Ex: #5EM0<cr>
1.1	517
204.1	518	This command will disable the built-in trapezoidal motion profile. As such, the servo will move at full speed to the target position using the D/MD action commands. Modifiers like SD/S or T cannot be used in EM0 mode. By default the Filter Position Counter, or "FPC" is active in EM0 mode to smooth out its operation. EM0 is suggested for applications where an external controller will be determining all incremental intermediate positions of the servo's motion, effectively replacing a trajectory manager. To prevent having to send position commands continuously to reach the desired position in EM0/FPC active (FPC >= 2), an internal position engine (IPE) repeats the last position command. Note that in EM0 mode, the servo will effectively always be in status: Holding (if using the query status command).
1.1	519
213.1	520	Query Motion Profile (QEM)
198.2	521
213.1	522	Ex: #5QEM<cr> might return *5QEM1<cr>
1.1	523
213.1	524	This command will query the motion profile. 0: motion profile disabled / 1: trapezoidal motion profile enabled.
1.1	525
213.1	526	Configure Motion Profile (CEM)
1.1	527
213.1	528	Ex: #5CEM0<cr>
98.4	529
172.1	530	This command configures the motion profile and saves it in the EEPROM. The setting will be saved upon servo reset / power cycle.
213.1	531	)))
98.4	532
213.1	533	\|(% colspan="2" %)(((
216.1	534	====== __Filter Position Count (FPC)__ ======
213.1	535	)))
	536	\|(% style="width:30px" %) \|(((
196.2	537	The FPC value relates to the depth of a first order filter (exponential weighted average) over the position change. This has the effect of slowing down both acceleration and deceleration while still allowing the LSS to try to reach the desired position at maximum power at all times. A smaller FPC value will reduce the smoothing effect and a larger value will increase it. To prevent having to send position commands continuously to reach the desired position in EM0/FPC active (FPC >= 2), an internal position engine (IPE) has been put in place, which is also active by default.
98.4	538
213.1	539	Ex: #5FPC10<cr>
98.4	540
213.1	541	This command allows the user to change the Filter Position Count value for that session.
98.4	542
213.1	543	Query Filter Position Count (QFPC)
98.4	544
213.1	545	Ex: #5QFPC<cr> might return *5QFPC10<cr>
98.4	546
213.1	547	This command will query the Filter Position Count value.
98.4	548
213.1	549	Configure Filter Position Count (CFPC)
	550
	551	Ex: #5CFPC10<cr>
	552
172.1	553	This command configures the Filter Position Count value and saves it in the EEPROM. The setting will be saved upon servo reset / power cycle.
213.1	554	)))
1.1	555
213.1	556	\|(% colspan="2" %)(((
216.1	557	====== __Origin Offset (O)__ ======
213.1	558	)))
	559	\|(% style="width:30px" %) \|(((
	560	Ex: #5O2400<cr>
1.1	561
213.1	562	This command allows you to 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	563
213.1	564	[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-v2/lynxmotion-smart-servo/lss-communication-protocol/WebHome/LSS-servo-default.jpg\|\|alt="LSS-servo-default.jpg"]]
1.1	565
213.1	566	In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
1.1	567
213.1	568	[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-v2/lynxmotion-smart-servo/lss-communication-protocol/WebHome/LSS-servo-origin.jpg\|\|alt="LSS-servo-origin.jpg"]]
1.1	569
213.1	570	Origin Offset Query (QO)
1.1	571
213.1	572	Ex: #5QO<cr> might return *5QO-13
1.1	573
213.1	574	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	575
213.1	576	Configure Origin Offset (CO)
1.1	577
213.1	578	Ex: #5CO-24<cr>
1.1	579
172.1	580	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.
213.1	581	)))
1.1	582
215.1	583	\|(% colspan="2" %)(((
216.1	584	====== __Angular Range (AR)__ ======
213.1	585	)))
	586	\|(% style="width:30px" %) \|(((
	587	Ex: #5AR1800<cr>
93.1	588
213.1	589	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	590
213.1	591	[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-v2/lynxmotion-smart-servo/lss-communication-protocol/WebHome/LSS-servo-default.jpg\|\|alt="LSS-servo-default.jpg"]]
1.1	592
213.1	593	Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
1.1	594
213.1	595	[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-v2/lynxmotion-smart-servo/lss-communication-protocol/WebHome/LSS-servo-ar.jpg\|\|alt="LSS-servo-ar.jpg"]]
1.1	596
213.1	597	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	598
213.1	599	[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-v2/lynxmotion-smart-servo/lss-communication-protocol/WebHome/LSS-servo-ar-o-1.jpg\|\|alt="LSS-servo-ar-o-1.jpg"]]
1.1	600
213.1	601	Query Angular Range (QAR)
1.1	602
213.1	603	Ex: #5QAR<cr> might return *5AR1800, indicating the total angular range is 180.0 degrees.
1.1	604
213.1	605	Configure Angular Range (CAR)
1.1	606
172.1	607	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.
213.1	608	)))
1.1	609
213.1	610	\|(% colspan="2" %)(((
216.1	611	====== __Angular Stiffness (AS)__ ======
213.1	612	)))
	613	\|(% style="width:30px" %) \|(((
	614	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.
1.1	615
213.1	616	A higher value of "angular stiffness":
1.1	617
172.1	618	* The more torque will be applied to try to keep the desired position against external input / changes
213.1	619	* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
1.1	620
213.1	621	A lower value on the other hand:
64.1	622
172.1	623	* Causes a slower acceleration to the travel speed, and a slower deceleration
213.1	624	* Allows the target position to deviate more from its position before additional torque is applied to bring it back
1.1	625
213.1	626	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.
1.1	627
213.1	628	Ex: #5AS-2<cr>
1.1	629
213.1	630	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.
1.1	631
213.1	632	Ex: #5QAS<cr>
1.1	633
213.1	634	Queries the value being used.
1.1	635
213.1	636	Ex: #5CAS-2<cr>Writes the desired angular stiffness value to EEPROM.
	637	)))
98.37	638
213.1	639	\|(% colspan="2" %)(((
216.1	640	====== __Angular Holding Stiffness (AH)__ ======
213.1	641	)))
	642	\|(% style="width:30px" %) \|(((
	643	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.
1.1	644
213.1	645	Ex: #5AH3<cr>
1.1	646
213.1	647	This sets the holding stiffness for servo #5 to 3 for that session.
110.1	648
213.1	649	Query Angular Holding Stiffness (QAH)
109.1	650
213.1	651	Ex: #5QAH<cr> might return *5QAH3<cr>
109.1	652
213.1	653	This returns the servo's angular holding stiffness value.
1.1	654
213.1	655	Configure Angular Holding Stiffness (CAH)
1.1	656
213.1	657	Ex: #5CAH2<cr>
1.1	658
213.1	659	This writes the angular holding stiffness of servo #5 to 2 to EEPROM.
	660	)))
1.1	661
213.1	662	\|(% colspan="2" %)(((
216.1	663	====== __Angular Acceleration (AA)__ ======
213.1	664	)))
	665	\|(% style="width:30px" %) \|(((
	666	The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
1.1	667
213.1	668	Ex: #5AA30<cr>
1.1	669
213.1	670	This sets the angular acceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).
1.1	671
213.1	672	Query Angular Acceleration (QAA)
1.1	673
213.1	674	Ex: #5QAA<cr> might return *5QAA30<cr>
1.1	675
213.1	676	This returns the servo's angular acceleration in degrees per second squared (°/s^^2^^).
42.1	677
213.1	678	Configure Angular Acceleration (CAA)
42.1	679
213.1	680	Ex: #5CAA30<cr>
50.1	681
213.1	682	This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
	683	)))
42.1	684
213.1	685	\|(% colspan="2" %)(((
216.1	686	====== __Angular Deceleration (AD)__ ======
213.1	687	)))
	688	\|(% style="width:30px" %) \|(((
	689	The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
1.1	690
213.1	691	Ex: #5AD30<cr>
102.1	692
213.1	693	This sets the angular deceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).
98.36	694
213.1	695	Query Angular Deceleration (QAD)
1.1	696
213.1	697	Ex: #5QAD<cr> might return *5QAD30<cr>
1.1	698
213.1	699	This returns the servo's angular deceleration in degrees per second squared (°/s^^2^^).
1.1	700
213.1	701	Configure Angular Deceleration (CAD)
1.1	702
213.1	703	Ex: #5CAD30<cr>
1.1	704
213.1	705	This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
	706	)))
1.1	707
213.1	708	\|(% colspan="2" %)(((
216.1	709	====== __Gyre Direction (G)__ ======
213.1	710	)))
	711	\|(% style="width:30px" %) \|(((
	712	"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. By default: CW = 1; CCW = -1.
1.1	713
213.1	714	Ex: #5G-1<cr>
13.1	715
213.1	716	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.
1.1	717
213.1	718	Query Gyre Direction (QG)
1.1	719
213.1	720	Ex: #5QG<cr> might return *5QG-1<cr>
1.1	721
213.1	722	The value returned above means the servo is in a counter-clockwise gyration. Sending a #5WR30 command will rotate the servo in a counter-clockwise gyration at 30 RPM.
1.1	723
213.1	724	Configure Gyre (CG)
12.1	725
213.1	726	Ex: #5CG-1<cr>
98.2	727
213.1	728	This changes the gyre direction as described above and also writes to EEPROM.
	729	)))
98.37	730
213.1	731	\|(% colspan="2" %)(((
216.1	732	====== __First Position__ ======
213.1	733	)))
	734	\|(% style="width:30px" %) \|(((
	735	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. Note that the number should be restricted to -1790 (-179.0 degrees) to +1790 (179.0 degrees) and values beyond this will be changed to 1800.
113.1	736
213.1	737	Query First Position in Degrees (QFD)
98.2	738
213.1	739	Ex: #5QFD<cr> might return *5QFD900<cr>
98.2	740
213.1	741	The reply above indicates that servo with ID 5 has a first position of 90.0 degrees. If there is no first position value stored, the reply will be DIS.
98.2	742
213.1	743	Configure First Position in Degrees (CFD)
98.2	744
213.1	745	Ex: #5CFD900<cr>
98.2	746
213.1	747	This configuration command means the servo, when set to smart mode, will immediately move to 90.0 degrees upon power up. Sending a CFD command without a number (Ex. #5CFD<cr>) results in the servo remaining limp upon power up. In order to remove the first position, send no value, ex: #5CFD<cr>
	748	)))
98.2	749
213.1	750	\|(% colspan="2" %)(((
216.1	751	====== __Maximum Motor Duty (MMD)__ ======
213.1	752	)))
	753	\|(% style="width:30px" %) \|(((
	754	This command allows the user to limit the duty cycle value sent from the servo's MCU to the DC Motor driver. The duty cycle limit value can be within the range of 255 to 1023. The default value is 1023. A typical use-case for this command is active compliance.
98.2	755
213.1	756	Ex: #5MMD512<cr>
98.2	757
213.1	758	This will set the duty-cycle to 512 for servo with ID 5 for that session.
98.2	759
213.1	760	Query Maximum Motor Duty (QMMD)
98.2	761
213.1	762	Ex: #5QMMDD<cr> might return *5QMMD512<cr>
98.2	763
213.1	764	This command returns the configured limit of the duty cycle value sent from the servo's MCU to the Motor Controller. The default value is 1023.
	765	)))
98.2	766
213.1	767	\|(% colspan="2" %)(((
216.1	768	====== __Maximum Speed in Degrees (SD)__ ======
213.1	769	)))
	770	\|(% style="width:30px" %) \|(((
	771	Ex: #5SD1800<cr>
185.2	772
213.1	773	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.
185.2	774
213.1	775	Query Speed in Degrees (QSD)
190.2	776
213.1	777	Ex: #5QSD<cr> might return *5QSD1800<cr>
190.2	778
213.1	779	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. 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:
	780	)))
185.2	781
213.1	782	\|(% style="width:30px" %) \|Command sent\|Returned value (1/10 °)
	783	\| \|ex: #5QSD<cr>\|Session value for maximum speed (set by latest SD/SR command)
	784	\| \|ex: #5QSD1<cr>\|Configured maximum speed in EEPROM (set by CSD/CSR)
	785	\| \|ex: #5QSD2<cr>\|Instantaneous speed (same as QWD)
	786	\| \|ex: #5QSD3<cr>\|Target travel speed
185.2	787
213.1	788	\|(% style="width:30px" %) \|(((
	789	Configure Speed in Degrees (CSD)
185.2	790
213.1	791	Ex: #5CSD1800<cr>
98.2	792
213.1	793	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.
	794	)))
98.2	795
213.1	796	\|(% colspan="2" %)(((
216.1	797	====== __Maximum Speed in RPM (SR)__ ======
213.1	798	)))
	799	\|(% style="width:30px" %) \|(((
	800	Ex: #5SR45<cr>
98.2	801
213.1	802	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. SR overrides CSR (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSR 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.
98.2	803
213.1	804	Query Speed in RPM (QSR)
98.2	805
213.1	806	Ex: #5QSR<cr> might return *5QSR45<cr>
98.2	807
213.1	808	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. 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:
	809	)))
98.2	810
213.1	811	\|(% style="width:30px" %) \|Command sent\|Returned value (1/10 °)
	812	\| \|ex: #5QSR<cr>\|Session value for maximum speed (set by latest SD/SR command)
	813	\| \|ex: #5QSR1<cr>\|Configured maximum speed in EEPROM (set by CSD/CSR)
	814	\| \|ex: #5QSR2<cr>\|Instantaneous speed (same as QWD)
	815	\| \|ex: #5QSR3<cr>\|Target travel speed
98.2	816
213.1	817	\|(((
	818	Configure Speed in RPM (CSR)
98.2	819
213.1	820	Ex: #5CSR45<cr>
98.2	821
213.1	822	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.
	823	)))\|
98.2	824
213.1	825	== Modifiers ==
98.2	826
213.1	827	\|(% colspan="2" %)(((
216.1	828	====== __Speed__ ======
213.1	829	)))
	830	\|(% style="width:30px" %) \|(((
	831	Ex: #5P1500S750<cr>
98.2	832
213.1	833	Modifier (S) is 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.
111.1	834
213.1	835	Ex: #5D0SD180<cr>
111.1	836
213.1	837	Modifier (SD) is only for a position (D) or relative position (MD) action and determines the speed of the move in tenths of degrees per second. A speed modifier (SD) of 180 would cause the servo to rotate from its current position to the desired absolute or relative position at a speed of 18 degrees per second.
111.1	838
213.1	839	Query Speed (QS)
111.1	840
213.1	841	Ex: #5QS<cr> might return *5QS300<cr>
111.1	842
213.1	843	This command queries the current speed in microseconds per second.
	844	)))
98.2	845
213.1	846	\|(% colspan="2" %)(((
216.1	847	====== __Timed move (T) modifier__ ======
213.1	848	)))
	849	\|(% style="width:30px" %) \|(((
	850	Example: #5P1500T2500<cr>
111.1	851
213.1	852	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.
111.1	853
213.1	854	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.
	855	)))
111.1	856
213.1	857	\|(% colspan="2" %)(((
216.1	858	====== __Current Halt & Hold (CH) modifier__ ======
213.1	859	)))
	860	\|(% style="width:30px" %) \|(((
	861	Example: #5D1423CH400<cr>
111.1	862
213.1	863	This has servo with ID 5 move to 142.3 degrees but, should it detect a current of 400mA or higher before it reaches the desired position, will immediately halt and hold position.
111.1	864
213.1	865	This modifier can be added to the following actions: D; MD; WD; WR.
	866	)))
98.2	867
213.1	868	\|(% colspan="2" %)(((
216.1	869	====== __Current Limp (CL) modifier__ ======
213.1	870	)))
	871	\|(% style="width:30px" %) \|(((
	872	Example: #5D1423CL400<cr>
98.2	873
213.1	874	This has servo with ID 5 move to 142.3 degrees but, should it detect a current of 400mA or higher before it reaches the desired position, will immediately go limp.
115.1	875
213.1	876	This modifier can be added to the following actions: D; MD; WD; WR.
	877	)))
	878
172.1	879	== Telemetry ==
98.2	880
213.1	881	\|(% colspan="2" %)(((
216.1	882	====== __Query Voltage (QV)__ ======
215.2	883	)))
	884	\|(% style="width:30px" %) \|(((
215.3	885	Ex: #5QV<cr> might return *5QV11200<cr>
215.2	886
215.3	887	The number returned is in milliVolts, so in the case above, servo with ID 5 has an input voltage of 11.2V.
215.2	888	)))
	889
	890	\|(% colspan="2" %)(((
216.1	891	====== __Query Temperature (QT)__ ======
213.1	892	)))
	893	\|(% style="width:30px" %) \|(((
215.3	894	Ex: #5QT<cr> might return *5QT564<cr>
98.2	895
215.3	896	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.
213.1	897	)))
98.37	898
213.1	899	\|(% colspan="2" %)(((
216.1	900	====== __Query Current (QC)__ ======
213.1	901	)))
	902	\|(% style="width:30px" %) \|(((
	903	Ex: #5QC<cr> might return *5QC140<cr>
108.1	904
213.1	905	The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
	906	)))
140.1	907
213.1	908	\|(% colspan="2" %)(((
216.1	909	====== __Query Model String (QMS)__ ======
213.1	910	)))
	911	\|(% style="width:30px" %) \|(((
	912	Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
148.1	913
213.1	914	This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
	915	)))
148.1	916
213.1	917	\|(% colspan="2" %)(((
216.1	918	====== __Query Firmware (QF)__ ======
213.1	919	)))
	920	\|(% style="width:30px" %) \|(((
	921	Ex: #5QF<cr> might return *5QF368<cr>
148.1	922
213.1	923	The number in the reply represents the firmware version, in this example being 368.
148.1	924
213.1	925	The command #5QF3<cr> can also be sent and the servo will reply with a 3 numbers firmware version, for example, 368.29.14
	926	)))
148.1	927
172.1	928	== RGB LED ==
148.1	929
213.1	930	\|(% colspan="2" %)(((
216.1	931	====== __LED Color (LED)__ ======
213.1	932	)))
	933	\|(% style="width:30px" %) \|(((
	934	Ex: #5LED3<cr>
172.1	935
213.1	936	This action sets the servo's RGB LED color for that session.
172.1	937
213.1	938	The LED can be used for aesthetics, or (based on user code) to provide visual status updates. Using timing can create patterns.
172.1	939
213.1	940	0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;
172.1	941
213.1	942	Query LED Color (QLED)
172.1	943
213.1	944	Ex: #5QLED<cr> might return *5QLED5<cr>
140.1	945
213.1	946	This simple query returns the indicated servo's LED color.
143.1	947
213.1	948	Configure LED Color (CLED)
	949
	950	Ex: #5CLED3<cr>
	951
	952	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. The command above will configure the servo's LED to a Blue color.
	953	)))
	954
	955	\|(% colspan="2" %)(((
216.1	956	====== __Configure LED Blinking (CLB)__ ======
213.1	957	)))
	958	\|(% style="width:30px" %) \|(((
	959	This command allows you to control when the RGB LED will blink the user set color (see RGB LED command 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:
	960	)))
	961
	962	\|(% style="width:30px" %) \|(% style="width:200px" %)Blink While:\|(% style="width:50px" %)#\|
	963	\| \|No blinking\|0\|
	964	\| \|Limp\|1\|
	965	\| \|Holding\|2\|
	966	\| \|Accelerating\|4\|
	967	\| \|Decelerating\|8\|
	968	\| \|Free\|16\|
	969	\| \|Travelling\|32\|
	970	\| \|Always blink\|63\|
	971
	972	\|(% style="width:30px" %) \|(((
	973	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:
	974
	975	Ex: #5CLB0 to turn off all blinking (LED always solid)
	976
	977	Ex: #5CLB1 only blink when limp (1)
	978
	979	Ex: #5CLB2 only blink when holding (2)
	980
	981	Ex: #5CLB12 only blink when accel or decel (accel 4 + decel 8 = 12)
	982
	983	Ex: #5CLB48 only blink when free or travel (free 16 + travel 32 = 48)
	984
	985	Ex: #5CLB63 blink in all status (1 + 2 + 4 + 8 + 16 + 32)
	986
	987	RESETTING the servo is needed.
	988	)))
	989
	990	\|(% colspan="2" style="width:30px" %)(((
216.1	991	====== __RGB LED Patterns__ ======
213.1	992	)))
	993	\|(% style="width:30px" %) \|(((
	994	The LED patterns below do not include those which are part of the button menu, which can be found here: [[LSS Button Menu>>url:https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-v2/lynxmotion-smart-servo/lss-button-menu/]]
	995	)))
	996	\|(% style="width:30px" %) \|[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-v2/lynxmotion-smart-servo/lss-communication-protocol/WebHome/LSS%20-%20LED%20Patterns.png\|\|alt="LSS - LED Patterns.png"]]

Wiki source code of LSS Communication Protocol

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