Wiki source code of LSS-PRO Configuration Software

Version 67.1 by Eric Nantel on 2024/07/11 15:07
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Eric Nantel 21.1 1 [[image:LSS-P-Configuration-Software.png||width="350"]]
Eric Nantel 12.1 2
Eric Nantel 21.1 3 [[image:[email protected]]]
Eric Nantel 1.2 4
5 **Table of Contents**
6
7 {{toc/}}
8
9 = Description =
Eric Nantel 21.1 10
Eric Nantel 48.1 11 The Lynxmotion Smart Servo PRO Configuration Software (“LSS PRO Config” for short) is intended to be a tool to quickly interact with the Lynxmotion Professional Smart Servos (LSS-P) loaded with our Lynxmotion firmware. Features include sending action and configuration commands, queries (and receiving the reply), updating the firmware, monitoring sensor data and more. The software works on Windows 7 operating systems and above.
Eric Nantel 21.1 12
Eric Nantel 48.1 13
Eric Nantel 44.2 14 Note: The software can be connected to multiple servos, but the interface can only control and communicate with one at any time (unless using the free format commands described below). Each servo must have a unique ID. The servo(s) must be powered correctly and connected to the computer via USB from the first servo in the BUS.
Eric Nantel 23.1 15
Eric Nantel 44.2 16 = Features =
17
18 * Send action, configuration and query commands to an individual PRO servo
19 * Obtain visual feedback from various onboard sensors
20 * Create custom actions for testing purpose
21 * Update PRO servo’s firmware
22 * Auto-Update if connected to Internet
23
Eric Nantel 24.1 24 = User Guide =
25
Eric Nantel 26.1 26 [lorren Ipsum]
Eric Nantel 24.1 27
Eric Nantel 44.2 28 == Information ==
29
30 [[image:LSS-P-Config-Info.png]]
31
32 1. The Information (capital I) button at the top right of the interface leads to this user guide.
33
Eric Nantel 26.1 34 == Connection ==
35
Eric Nantel 44.2 36 In order for the LSS PRO Config software to detect the servos, the correct USB to serial drivers must be installed on the computer. Windows will automatically detect and install the drivers.
37
38
Eric Nantel 32.1 39 [[image:LSS-P-Config-Connection.png]]
Eric Nantel 26.1 40
Eric Nantel 44.2 41 1. Select the appropriate COM port
42 1. Click on the "Connect" button (All servos in the communication BUS should be detected)
43 1. Select a particular servo from the list
Eric Nantel 30.1 44
Eric Nantel 44.2 45 Note: The interface will then display and control that single actuator.
Eric Nantel 30.1 46
Eric Nantel 67.1 47 == Safety & Useful Buttons ==
48
49 This section includes the important E-stop (removes power from the motors via software) and other useful commands.
50
51 [[image:LSS-P-Config-Buttons.png]]
52
53 1. This button sends a RESET command to the servo. More information [[HERE>>doc:ses-pro.lss-pro.lss-p-communication-protocol.WebHome||anchor="HReset"]]
54 1. This reset the servo to factory default settings, removing all configurations, including the ID. More information [[HERE>>doc:ses-pro.lss-pro.lss-p-communication-protocol.WebHome||anchor="HDefault26confirm"]]
55 1. This command halts the actuator at whatever angle it is (whether during a motion or already at an angle) and causes it to hold that position (motor is powered and holding). The following command is sent to all servos, not just the one connected via USB.
56 \\Command sent: #254H<cr>
57
58 1. (((
59 This command halts the actuator at whatever angle it is (whether during a motion or already at an angle) and causes it to hold that position (motor is powered and holding). The following command is sent to all servos, not just the one connected via USB.
60
61 Command sent: #254L<cr>
62
63  Just like the emergency stop button the 36V large power supply which is provided with each PRO arm, the E-Stop is meant to be under emergency only, as power is cut to all motors, which may result in joints rotating because of high torque being applied. In the case of a robotic arm, the arm may fall and damage itself or whatever is in its environment.
64 )))
65
Eric Nantel 26.1 66 == Status ==
67
Eric Nantel 34.1 68 [[image:LSS-P-Config-Status.png]]
Eric Nantel 26.1 69
Eric Nantel 34.1 70 This is a section to directly give information to the user on what's happening with their actuator.
71
72 1. Position of the actuator including any adjustment to the Origin Offset.
73 1. Status of what the actuator is currently doing. (A list of the different statuses is available HERE)
74 1. Errors that are happening. (A list of the different errors is available HERE)
75
Eric Nantel 44.2 76 Note: Most errors will require the problem to be solved & the servo either Reset or set Limp.
77
Eric Nantel 49.2 78 == Servo Control ==
Eric Nantel 48.1 79
Eric Nantel 65.2 80 In order to view the various commands available for each drop-down, a PRO servo needs to be properly connected to the computer, powered, turned on and detected.
Eric Nantel 48.1 81
Eric Nantel 65.2 82 [[image:LSS-P-Config-ServoControl.png]]Query
Eric Nantel 48.1 83
Eric Nantel 26.1 84
Eric Nantel 38.1 85 [[image:LSS-P-Config-Query.png]]
Eric Nantel 26.1 86
Eric Nantel 65.2 87 1. The drop down list below Query provides a list of most query commands possible. More information click HERE
Eric Nantel 38.1 88 1. Click the "Send" button to initiate the Query.
89 1. The Query protocol command will be displayed here as well as the answer from the actuator. (ex: #1QID / *1QID1)
90
Eric Nantel 49.2 91 === Action ===
Eric Nantel 26.1 92
Eric Nantel 48.1 93 The drop down list below Action provides a list of most action commands used with the LSS PRO servos.
94
Eric Nantel 38.1 95 [[image:LSS-P-Config-Action.png]]
Eric Nantel 26.1 96
Eric Nantel 65.2 97 1. The drop down list below Action provides a list of most action commands possible. More information click HERE.
Eric Nantel 38.1 98 1. Input the value of the Action required in the text input field. (ex: 9000 for a 90deg move)
99 1. Click the "Send" button to initiate the Action.
100 1. The Action protocol command will be displayed here and the actuator should be doing it.
101
Eric Nantel 49.2 102 === Configuration ===
Eric Nantel 26.1 103
Eric Nantel 48.1 104 The drop down list below Configuration provides a list of most configuration commands used with the LSS PRO servos.
105
Eric Nantel 38.1 106 [[image:LSS-P-Config-Config.png]]
Eric Nantel 26.1 107
Eric Nantel 65.2 108 1. The drop down list below Configuration provides a list of most configuration commands possible. More information click HERE.
Eric Nantel 49.1 109 1. Input the value of the Configuration required in the text input field. (ex: 1 for an ID change to 1)
Eric Nantel 38.1 110 1. Click the "Send" button to initiate the Configuration.
111 1. The Configuration protocol command will be displayed here.
112
Eric Nantel 48.1 113 === Free format command ===
114
Eric Nantel 65.2 115 This command line interface allows the user to send commands, including those not otherwise found in the drop-down list, as well as any special commands provided by Lynxmotion staff. Once sent the commands will be displayed in the area bellow (like a terminal) and can be cleared if required. This can help with debugging or better understanding the communication protocol.
Eric Nantel 48.1 116
117 [[image:LSS-P-Config-Free-Cmd.png]]
118
Eric Nantel 26.1 119 == Telemetry ==
120
Eric Nantel 53.1 121 A graph within the software is used to display output of any query commands, which can include sensor data or calculated data.
Eric Nantel 26.1 122
Eric Nantel 53.1 123 [[image:LSS-P-Config-Telemetry.png]]
Eric Nantel 52.1 124
Eric Nantel 53.1 125 1. To activate a specific value, click on the button and click again to disable it. he software start memorizing the data as soon as one query is activated.
126 1. Pause will stop recording until you click back on it.
127 1. Restart will wipe all the recorded values.
128 1. The Y-axis of the graph auto-scales depending on what output is selected. To switch between traces, use the mouse wheel and confirm that the y axis label is the one you selected.
129 1. The X-axis display the time & expands up to 20 minutes then scrolls a 20 minute time window.
Eric Nantel 54.2 130 1. Saving the data is possible by doing a right click on the graph and select Copy, it's then possible to paste them in a spreadsheet application (Excel / Google Sheets)
Eric Nantel 52.1 131
Eric Nantel 53.1 132 === Personalize Query ===
Eric Nantel 52.1 133
Eric Nantel 40.1 134 To change the query for a specific button, you have to do a "CTRL + CLICK" on the desired button, this interface will then be displayed.
135
136 [[image:LSS-P-Config-Telemetry-Custom.png]]
137
138 1. Trace Name: Displayed name for that particular query.
139 1. Two separate "Add" button and drop down are present, they are shortcuts to add to the query bellow.
Eric Nantel 64.1 140 1. Query that will be sent to the actuator plus displayed units for the interface.
Eric Nantel 40.1 141
Eric Nantel 43.1 142 === Saving Data ===
143
Eric Nantel 52.1 144
Eric Nantel 26.1 145 == Custom Actions ==
146
Eric Nantel 64.1 147 This list of assignable buttons allows the user to select specific commands to send to the servo. These can be used to quickly position the servo to specific angles, experiment with different speeds and more.
Eric Nantel 26.1 148
Eric Nantel 64.1 149 [[image:LSS-P-Config-Custom-Actions.png]]
150
151 1. All of those buttons can be set to trigger any action required.
152 1. Save will let you do a backup of the current Custom Actions.
153 1. Load will let you select and load a previously saved Custom Action file.
154
Eric Nantel 65.1 155 === Personalize Action ===
156
Eric Nantel 64.1 157 To change the Action for a specific button, you have to do a "CTRL + CLICK" on the desired button, this interface will then be displayed.
158
159 [[image:LSS-P-Config-Custom-Actions-Custom.png]]
160
161 1. Action Name: Displayed name for that particular action.
162 1. Two separate "Add" button and drop down are present, they are shortcuts to add to the action bellow.
163 1. Action command that will be sent to the actuator plus displayed units for the interface.
164
Eric Nantel 28.1 165 == Firmware Update ==
166
167 [lorren Ipsum]
Eric Nantel 61.1 168
169
170 [[image:LSS-P-Config-Firmware-Available.png]]
171
172 [[image:LSS-P-Config-Firmware-Download.png]]
173
174 [[image:LSS-P-Config-Firmware-Local.png]]
175
176 [[image:LSS-P-Config-Firmware-Success.png]]
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