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  • LSS-P-L1-Mounting.png
  • LSS-P-S1-Case.png
  • LSS-P-S1-Gearbox-Iso.png
  • LSS-P-S1-Mountings.png

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	1	+{{warningBox warningText="More information coming soon"/}}
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1	1	(% class="wikigeneratedid" id="HTableofContents" %)
2	2	**Page Contents**
3	3
4	4	{{toc depth="3"/}}
5	5
6		-= LSS Features =
	9	+|(% colspan="2" %)(((
	10	+= Mounting Points =
	11	+)))
	12	+|(% style="width:350px" %)
	13	+|(% rowspan="2" style="width:25%" %)[[image:LSS-P-S1-Mountings.png]]
	14	+|(((
	15	+**LSS-P-L1**
7	7
8		-|(% colspan="2" style="width:350px" %)(((
9		-== Spline ==
	17	+There are 6 untapped holes and 6 tapped holes around the circumference of the gearbox. The tapped holes are used to fix the frame to the gearbox and are M4 tapped on a 65mm diameter circle. The untapped holes are 4.5mm diameter on a 96mm diameter circle with a depth of 7mm.
	18	+
	19	+Gearbox Output Mounting
	20	+
	21	+* Six equally space M4 threaded holes on a 23mm diameter circle with a depth of 5mm
	22	+
	23	+Mounting Plate
	24	+
	25	+* Six equally space M4 threaded holes on a 23mm diameter circle with a depth of 5mm (LSS-P-L1 output)
	26	+* Six equally space M5 threaded holes on a 27mm diameter circle with a depth of 5mm (LSS-P-S1 output)
	27	+* Six equally space M8 threaded holes on a 42mm diameter circle at a depth of 15mm (LSS-P-M1 output)
	28	+* Six equally spaced 3.2mm diameter holes on a 58mm diameter circle (clamp mounting)
	29	+* Six equally spaced holes to mount the top PCB (explained in PRO Electrical)
	30	+
	31	+
10	10	)))
11		-|(% style="width:350px" %)[[image:LSS - Splines.png||queryString="width=400" width="400"]]|(((
12		-The spline allows the driving horn to be connected to the output shaft so that it rotates with the shaft. The 24 tooth spline selected is used by other servo manufacturers (for example Hitec's HS-422 and HS-645MG RC servos) and as such there are a variety of accessories / horns which are compatible and can be installed on the servo. Alternatives to using the Lynxmotion driving horn include a wheel, a pulley or sprocket, a tubing connector, specific RC horns and more. Note that there are many different spline cross sections, and in order to ensure the a horn can fit onto the output shaft of the servo, it must have the matching / identical spline.
	33	+|(% rowspan="2" style="width:350px" %)[[image:LSS-P-S1-Mountings.png]]
	34	+|(((
	35	+**LSS-P-S1**
13	13
14		-Although the final gear which (located within the servo) which is connected to the output spline is supported by two radial ball bearings, the output spline is intended to withstand torque as opposed to radial or axial loads.
	37	+There are 6 untapped holes and 6 tapped holes around the circumference of the gearbox. The tapped holes are used to fix the frame to the gearbox and are M4 tapped on a 71mm diameter circle. The untapped holes are 4.5mm diameter on a 71mm diameter circle with a depth of 7mm.
15	15
16		-Learn more about [[SES - Gearing & Horns>>doc:ses-v2-system.ses-v2-info.ses-gearing-horn-information.WebHome]]
	39	+Gearbox Output Mounting
	40	+
	41	+* Six equally space M5 threaded holes on a 27mm diameter circle with a depth of 5mm
	42	+
	43	+Mounting Plate
	44	+
	45	+* Six equally space M4 threaded holes on a 23mm diameter circle with a depth of 5mm (LSS-P-L1 output)
	46	+* Six equally space M5 threaded holes on a 27mm diameter circle with a depth of 5mm (LSS-P-S1 output)
	47	+* Six equally space M8 threaded holes on a 42mm diameter circle at a depth of 15mm (LSS-P-M1 output)
	48	+* Six equally spaced 3.2mm diameter holes on a 58mm diameter circle (clamp mounting)
	49	+* Six equally spaced holes to mount the top PCB (explained in PRO Electrical)
17	17	)))
	51	+|(% rowspan="2" style="width:350px" %)[[image:LSS-P-S1-Mountings.png]]
	52	+|(((
	53	+**LSS-P-M1**
	54	+
	55	+There are 6 untapped holes and 6 tapped holes around the circumference of the gearbox. The tapped holes are used to fix the frame to the gearbox and are M5 tapped on a 96mm diameter circle. The untapped holes are 5.5mm diameter on a 96mm diameter circle.
	56	+
	57	+Gearbox Output Mounting
	58	+
	59	+* Six equally space M8 threaded holes on a 42mm diameter circle at a depth of 15mm
	60	+
	61	+Mounting Plate
	62	+
	63	+* Six equally space M4 threaded holes on a 23mm diameter circle with a depth of 5mm (LSS-P-L1 output)
	64	+* Six equally space M5 threaded holes on a 27mm diameter circle with a depth of 5mm (LSS-P-S1 output)
	65	+* Six equally space M8 threaded holes on a 42mm diameter circle at a depth of 15mm (LSS-P-M1 output)
	66	+* Six equally spaced 3.2mm diameter holes on a 58mm diameter circle (clamp mounting)
	67	+* Six equally spaced holes to mount the top PCB (explained in PRO Electrical)
	68	+)))
18	18	|(% colspan="2" style="width:350px" %)(((
19	19	== Case ==
20	20	)))
21		-|(% style="width:350px" %)[[image:LSS - case.png||queryString="width=400" width="400"]]|(((
22		-The black plastic case which forms the body of the servo is made up of three sections: the  top (highlighted in yellow), the bottom (opposite the driven horn and highlighted in orange), and the middle / center. All three case components on the high speed and standard servos are made of injection-molded ABS plastic, whereas the middle case on the high torque is machined aluminum, anodized black. There are four screws located on the bottom case holding the servo together. Opening the servo without express permission from RobotShop / Lynxmotion staff will void the warranty. There are many threaded inserts in the top and bottom case, and their specifications and functionality are described below.
	72	+|(% style="width:350px" %)[[image:LSS-P-S1-Case.png]]|(((
	73	+The case of the Lynxmotion PRO Smart Servo is in three parts: the main body, the cap and the mounting plate. Each of these three parts is milled from aluminum and anodized black.
	74	+
	75	+**Main Body**
	76	+
	77	+The main body is in the shape of a compact T, with the stepper motor located in the center.
	78	+
	79	+**Cap**
	80	+
	81	+The cap supports the top and bottom PCB which make up the electronics inside the actuator. The bottom PCB must be located at the rear of the stepper motor in order to make use of the encoder.
	82	+
	83	+**Mounting Plate**
	84	+
	85	+The mounting plate provides a convenient connection point onto which another actuator, clamp or bracket can be connected. As indicated above, it has the mounting pattern for the gearbox output for each of the three servo motors, as well as the clamp.
23	23	)))
24	24	|(% colspan="2" style="width:350px" %)(((
25		-== LED Bar ==
	88	+== RGB LED ==
26	26	)))
27		-|(% style="text-align:center; width:350px" %)[[image:LSS - LED.png||queryString="width=250" width="250"]]|(((
28		-The white opaque LED bar covers an internal RGB LED and has several functions:
	90	+|(% style="text-align:center; width:350px" %) |(((
	91	+The RGB LED is intended to provide the user with visual feedback of the actuator’s status.
29	29
30		-* User can select a color to add an aesthetic / visual flare to their robotic creation
31		-* When changing modes or using the button menu, the LED provides visual feedback of the servo's status / configuration
32		-* If the servo encounters an issue (ex too hot), the servo will go limp and the LED will provide feedback
33		-* In advanced mode, the LED can be made to flash in specific circumstances
	93	+More information coming soon.
34	34	)))
35	35	|(% colspan="2" style="width:350px" %)(((
36		-== Connector ==
	96	+== Connectors ==
37	37	)))
38		-|(% style="text-align:center; width:350px" %)[[image:LSS - Connectors.png||queryString="width=250" width="250"]]|There are two male four-pin 2.54mm (0.1") spaced MOLEX connectors located on either side of the servo. The connector is "keyed"  to prevents mating except with a correctly oriented matching connector, and there is no locking mechanism. The pins are GND, VCC+, Rx (servo receive pin) and Tx (servo transmit pin). The order of the connector pins is reversed from one side of the servo to the other . In order to receive or send a command / signal only one side needs to be connected. The other connector need only be used when adding another servo to the chain.
	98	+|(% style="text-align:center; width:350px" %) |(((
	99	+**RJ45 - CAN Communication**
	100	+
	101	+There are two RJ45 connectors which allow the servos to be daisy chained. Either connector can be used as the pinout is identical. More information about the pinout can be found on the LSS-P - Electrical page.
	102	+
	103	+**XT60 - Power**
	104	+
	105	+The actuators are powered via ONE of the two XT60 connectors. The second XT60 is to provide power to the next actuator in the bus. Never feed an actuator with two sources of power. More information about the power requirements can be found on the LSS-P - Electrical page.
	106	+)))
39	39	|(% colspan="2" style="width:350px" %)(((
40	40	== Button ==
41	41	)))
42		-|(% style="text-align:center; width:350px" %)[[image:LSS - Button.png||queryString="width=250" width="250"]]|The small button located at the rear of the servo is meant to allow the user to change the servo’s settings / configurations. The button is recessed so it is not pressed accidentally, nor is it meant to be used often, as the software interface allows for full control over these settings as well. Do not press the button too hard.
	110	+|(% style="text-align:center; width:350px" %) |Information coming soon.
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44	44	== Gearing ==
45	45	)))
46		-|(% style="text-align:center; width:350px" %)[[image:LSS - Gears.png||queryString="width=250" width="250"]]|The internal gearing within the servo is located inside the top part of the case and has the effect of reducing the motor’s RPM while increasing the torque. The gear train is made up of a variety of metal spur gears.
	114	+|(% style="text-align:center; width:350px" %) |(((
	115	+Each of the actuators use Strain Wave Gearing (a.k.a. "Harmonic Drive" which is a brand like "Kleenex" is associated with tissue paper). This allows for a high torque transfer and very high angular precision. Strain wave gearing is not meant to be back-driven. The gear ratios for each are:
	116	+
	117	+* Lite: 100:1
	118	+* Standard: 100:1
	119	+* Mega: 100:1
	120	+)))
47	47	|(% colspan="2" style="width:350px" %)(((
48		-== Motor ==
	122	+== Stepper Motor ==
49	49	)))
50		-|(% style="text-align:center; width:350px" %)[[image:LSS - Motor.png||queryString="width=250" width="250"]]|The brushed DC motor is located within the central part of the case. The motor used in the high torque servo is coreless, while the motor used in the standard and high speed servos is cored.
	124	+|(% style="text-align:center; width:350px" %) |(((
	125	+Unlike many tabletop "Cobot" ("collaborative robot") robotic arms which use BLDC / frameless DC motors and measure the current needed for a motion, the LSS-P actuators use standard sized and industry proven bipolar stepper motors. These motors provide high torque at low speeds, but operate at a set current and therefore do not have a direct way of measuring the torque.
51	51
52		-|(% colspan="2" style="width:350px" %)(((
53		-= Threaded Inserts =
	127	+* Lite: NEMA 14
	128	+* Standard: NEMA 17
	129	+* Mega: NEMA 25
54	54	)))
55		-|(% style="width:350px" %)[[image:LSS-Top-Inserts(800px).png||queryString="width=400" width="400"]]|The top case of the servo includes 12x 2-56 threaded inserts plus one M3 threaded insert located at the center of the SES pattern as well as the M3 threaded spline shaft.
56		-|[[image:LSS-Bottom-Inserts(800px).png||queryString="width=400" width="400"]]|The bottom case of the servo includes 16x 2-56 threaded inserts plus two M3 threaded inserts located at the center of the SES pattern.
57		-|[[image:LSS-Screws-Distance.png]]|IMPORTANT NOTE: ONLY USE THE 2-56 x 14” SCREWS PROVIDED. LONGER SCREWS CAN AND WILL CAUSE DAMAGE TO THE SERVO.
58	58
59	59	= Dimensions =
60	60
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62		-|(% style="width:350px" %){{lightbox image="LSS-All-Dimensions.png"/}}|{{lightbox image="LSS-Front-Dimensions.png"/}}
	135	+|(% style="width:350px" %) |Information coming soon.

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