Table of Contents

• Description
• Features
• User Guide
  • Information
  • Connection
  • Safety & Useful Buttons
  • Status
  • Servo Control
    • Action
    • Configuration
    • Free format command
  • Telemetry
    • Personalize Query
  • Custom Actions
    • Personalize Action
  • Firmware Update
    • Online Update
    • Offline Update

Description

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. 

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.

Features

• Send action, configuration and query commands to an individual PRO servo
• Obtain visual feedback from various onboard sensors
• Create custom actions for testing purpose
• Update PRO servo’s firmware
• Auto-Update if connected to Internet

User Guide

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Information

1. The Information (capital I) button at the top right of the interface leads to this user guide.

Connection

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.

1. Select the appropriate COM port
2. Click on the "Connect" button (All servos in the communication BUS should be detected)
3. Select a particular servo from the list

Note: The interface will then display and control that single actuator.

Safety & Useful Buttons

This section includes the important emergency stop (removes power from the motors via software) and other useful commands. 

Note: Those commands are sent to the selected servo, if "254 - All servos" is selected then it will be sent to all of them.

1. This button sends a RESET command. More information HERE
2. This reset the servo to factory default settings, removing all configurations, including the ID. More information HERE
3. 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.
   
   Command sent: #254H<cr>
    

4. 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.

   Command sent: #254L<cr>

    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.

Status

As a servo is intended to be moved to specific angles, the position of the servo, to 0.01 degrees of accuracy, is displayed at the bottom left of the interface.

This is a section to directly give information to the user on what's happening with their actuator.

1. The Position shows the current angle of the output shaft of the servo in relation to its configured origin (0 degree) angle (including any adjustment to the Origin Offset). It also displays angles over 360 degrees, and it’s important to note this is a calculated position as the internal sensor can only read 0 to 360 degrees. The multi-turn angle is retained even after a power cycle.
2. Status of what the actuator is currently doing. More information HERE
3. Errors that are happening. More information HERE

Note: Most errors will require the problem to be solved & the servo either Reset or set Limp. To view and resolve any errors, go to the troubleshooting section

Servo Control

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.

Query

1. The drop down list below Query provides a list of most query commands possible. More information click HERE
2. Click the "Send" button to initiate the Query.
3. The Query protocol command will be displayed here as well as the answer from the actuator. (ex: #1QID / *1QID1)

Action

The drop down list below Action provides a list of most action commands used with the LSS PRO servos.

1. The drop down list below Action provides a list of most action commands possible. More information click HERE.
2. Input the value of the Action required in the text input field. (ex: 9000 for a 90deg move)
3. Click the "Send" button to initiate the Action.
4. The Action protocol command will be displayed here and the actuator should be doing it.

Configuration

The drop down list below Configuration provides a list of most configuration commands used with the LSS PRO servos.

1. The drop down list below Configuration provides a list of most configuration commands possible. More information click HERE.
2. Input the value of the Configuration required in the text input field. (ex: 1 for an ID change to 1)
3. Click the "Send" button to initiate the Configuration.
4. The Configuration protocol command will be displayed here.

Free format command

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.

Telemetry

A graph within the software is used to display output of any query commands, which can include sensor data or calculated data.

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.
2. Pause will stop recording until you click back on it.
3. Restart will wipe all the recorded values.
4. 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.
5. The X-axis display the time & expands up to 20 minutes then scrolls a 20 minute time window.
6. 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)

Personalize Query

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.

1. Trace Name: Displayed name for that particular query.
2. Two separate "Add" button and drop down are present, they are shortcuts to add to the query bellow.
3. Query that will be sent to the actuator plus displayed units for the interface.

Custom Actions

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.

1. All of those buttons can be set to trigger any action required.
2. Save will let you do a backup of the current Custom Actions.
3. Load will let you select and load a previously saved Custom Action file.

Personalize Action

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.

1. Action Name: Displayed name for that particular action.
2. Two separate "Add" button and drop down are present, they are shortcuts to add to the action bellow.
3. Action command that will be sent to the actuator plus displayed units for the interface.

Firmware Update

It is good to periodically check for firmware updates for the servos. A firmware update requires that the computer running the software be 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).

1. When a firmware update is available, the logo will turn green.

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.

Online Update

1. Select the servo ID that requires a firmware update
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. It's pretty quick but 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 flashing will start. A progress bar will show the progress. DO NOT UNPLUG / UNPOWER the servo while updating.
   
6. Once the procedure is done you will have a confirmation pop-up.
   

Offline Update

In some rare occasions, our staff could ask you to try a firmware which they provided and here's how to flash it.

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 and select & open the firmware file provided by our staff.
   
4. Another message will ask you if you want to proceed click Yes.
   
5. The servo will be put in "Firmware Update" mode and flashing will start. A progress bar will show the progress. DO NOT UNPLUG / UNPOWER the servo while updating.
   
6. Once the procedure is done you will have a confirmation pop-up.