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# 900mm 6DoF Initial Setup

Last modified by Eric Nantel on 2024/10/09 07:07
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900 6DoF - Initial Setup
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Disclaimer: The Lynxmotion PRO Robotic Arm is a precision tool designed for advanced users and industrial applications. This product is not a toy and should be operated with caution. Improper use may result in serious injuries. Always follow the safety guidelines and wear appropriate protective equipment when operating the robotic arm.

- 1.0 - Firmware
- 2.0 - Actuator ID
- 3.0 - CAN bus

# 1.0 - Firmware
| Before proceeding, verify that each servo is running the latest firmware and update if necessary. See LSS Config software page for details on how to update firmware per servo. Important: At this time, firmware updates need to be done per servo (not the arm as a whole), with each servo connected directly to the computer via USB for their own update.

## LSS-PRO Firmware Update
| Periodically check for firmware updates for the servos by connecting the arm to the LSS Config, selecting each servo and seeing if a firmware update is available. Note that a firmware update requires that the computer running the PRO Config software is connected to the Internet. Firmware updates can resolve bugs or add improvements. The information in this Wiki (for example the PRO Communication Protocol Page) will always refer to the latest version of firmware (though in certain instances will detail which firmware version of the firmware the feature or function started with). When a firmware update is available, the logo will turn green, as shown in the image above.. Note: Only a servo connected via USB can be updated and all the other servos on the bus will not be displayed with a green logo unless connected directly via USB. Note: Unless specified otherwise, existing configurations are retained after firmware updates
### Online Update
| 1. Select the servo ID next to "Select ID" to see if a firmware update is available for that servo
| 2. If the logo is green, click on the "Firmware Update" button
| 3. A message will ask you if you want do download the latest firmware, click Yes.
| 4. The time to download the update should be fast, and once downloaded another message will ask you if you want to proceed; click Yes.
| 5. The servo will be put in "Firmware Update" mode and the LED on the servo will start flashing. A progress bar will show the progress of the update. DO NOT UNPLUG or REMOVE POWER from the servo while updating.
| 6. Once the update is finished the software will display a confirmation pop-up.
### Offline Update
| In rare occasions, our staff could ask you to upload a firmware which they provided. A link to this procedure will also be provided.
| 1. Select the servo ID that requires a firmware update
| 2. Click on the "Firmware Update" button and depending on the pop-up select as shown.
| 3. Browse to, select & open the firmware file provided by our staff (saved locally on your computer).
| 4. Another message will ask you if you want to proceed; click Yes.
| 5. The servo will be put in "Firmware Update" mode and the LED on the servo will start flashing. A progress bar will show the progress. DO NOT UNPLUG or REMOVE POWER from the servo while updating.
| 6. Once the procedure is done you will have a confirmation pop-up.

# 2.0 - Actuator ID
| It's always best to verify the firmware version and update to the latest before doing anything else. To proceed with the Firmware update it's important to know you can only update the actuator which is connected via USB. The easiest way would be to power your arm and connect the USB type-c to the actuator you want to update and right after setting the proper ID to that servo than move on to the next one. J1: LSS-P-M1 / Mega / ID1 J2: LSS-P-M1 / Mega / ID2 J3: LSS-P-S1 / Standard / ID3 J4: LSS-P-S1 / Standard / ID4 J5: LSS-P-L1 / Lite / ID5 J6: LSS-P-L1 / Lite / ID6

## LSS-PRO Configure IDs
| 1. Wiring WARNING:Do not hot plug the servo! Make sure the power supply is turned OFF (and waited at least 10s for it to completely discharge its internal capacitor) before connecting it to the LSS-P actuator Connect the XT60 from your power supply Connect the USB Type-C cable If you are using a battery, ensure there is an On/Off switch between the battery and the servo(s).
| 2. Power ON Power the actuator (set the switch to ON)
| 3. LSS PRO Config Software Install the LSS PRO Configuration software (HERE) Open the LSS PRO Configuration software
| 4. Connect to the BUS Select the COM port associated with your actuator or the first servo in the BUS Click Connect
| 5. Actuator Selection In the drop-down menu, select your actuator
| 6. Set the servo's ID In the "Configuration" drop-down menu, select the Configure ID command "CID / ID Number" In the text entry box, set the desired ID number (integers only up to 253) Click on the "Send" button to send the command to the servo The "RESET" button will start blinking, click on it to reset the servo
| 7. Confirm The software will automatically re-connect to the actuator but if not, proceed as done in Step 4 Verify that your ID is not what you have set At that point your Actuator should have the new ID configured.
| 8. Repeat individualls for each servo in the BUS ensuring only one servo at a time is connected via its own USB to the software.

# 3.0 - CAN bus
| The LSS-P actuators communicate from one another using a CAN bus and to be stable it require an "end of line" resistor to be set. It suppress reflections as well as return the bus to its recessive or idle state By default all actuator have this resistor set to ON and the actuator that are in the middle of the bus need to be deactivated. It's quite easy to do so with a serial command using the LSS PRO Configuration software. More about it here: LSS-PRO Communication Protocol / Enable CAN Terminal Resistor

## LSS-PRO Configure CAN Bus The LSS PRO servos are meant to be daisy chained in a CAM Bus. The last servo in this BUS needs to be configured as the last servo. A terminal resistor in a CAN bus ensures signal integrity by reducing reflections on the communication line, helping to maintain stable data transmission. There is no need for a physical resistor as this is set via a configuration command.
| 1. Wiring WARNING:Do not hot plug the servo! Make sure the power supply is turned OFF (and waited at least 10s for it to completely discharge its internal capacitor) before connecting it to the LSS-P actuator Connect the XT60 from your power supply Connect the USB Type-C cable If you are using a battery, ensure there is an On/Off switch between the battery and the servo(s).
| 2. Power-Up Proceed with powering the actuator
| 3. LSS PRO Config Software Install the LSS PRO Configuration software (HERE) Open the LSS PRO Configuration software
| 4. Connection Select the COM port associated with your actuator Click Connect
| 5. Actuator Selection In the drop-down menu, select your actuator
| 6. Set the ID In the "Configuration" drop-down menu, select "CET / Enable CAN Terminal resistor" In the text entry box, set the desired value. Enabled = 1 Disabled = 0 Click on the "Send" button

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Created by Eric Nantel on 2024/07/05 07:57
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