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...	...	@@ -29,7 +29,6 @@
29	29	Before assembling the arm, each of the IDs assigned to the servos must correspond with what is needed in the software.
30	30
31	31	(% style="width:700px" %)
32		-|(% style="text-align:center" %)**LSS - 4 DoF Arm **|(% style="text-align:center" %)**LSS - 3 DoF Arm **
33	33	|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v2-robots/ses-v2-arms/lss-4dof-arm/4dof-arm-quickstart/4dof-servo-setup/WebHome/SESV2-LSS-ARTICULATED-ARM-IDS.PNG" width="350"/}}|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v2-robots/ses-v2-arms/lss-3-dof-arm/3dof-arm-quickstart/3dof-servo-setup/WebHome/LSS-3DOF-IDS.PNG?=" width="350"/}}
34	34
35	35	To do so, the [[LSS Configuration Software>>doc:lynxmotion-smart-servo.lss-configuration-software.WebHome]] is used. Follow the procedure outlined here: [[doc:lynxmotion-smart-servo.lss-configuration-software.lss-config-configure-ids.WebHome]]
...	...	@@ -77,8 +77,7 @@
77	77	* Wrist servo along R axis (parallel to elbow to wrist)
78	78	* Gripper servo closed
79	79
80		-|(% colspan="2" rowspan="1" style="text-align:center; vertical-align:middle" %)**LSS - 4 DoF Arm **|(% colspan="2" rowspan="1" style="text-align:center; vertical-align:middle" %)**LSS - 3 DoF Arm **
81		-|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-offset-left.png||alt="lss-flowarm-left.png" height="300" width="300"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-offset-top.png||alt="lss-flowarm-top.png" height="300" width="300"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-offset-left-3dof.png||alt="lss-flowarm-left-3dof.png" width="300"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-top-3dof.png||alt="lss-flowarm-left-3dof.png" height="300" width="300"]]
	79	+|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-offset-left.png||alt="lss-flowarm-left.png" height="300" width="300"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-offset-top.png||alt="lss-flowarm-top.png" height="300" width="300"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-left-3dof.png||height="300" width="300"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-top-3dof.png||alt="lss-flowarm-left-3dof.png" height="300" width="300"]]
82	82
83	83	=== Limp ===
84	84
...	...	@@ -133,9 +133,7 @@
133	133
134	134	A, D: Left & right (closer / farther from base)
135	135
136		-(% style="width:700px" %)
137		-|(% style="text-align:center" %)**LSS - 4 DoF Arm **|(% style="text-align:center" %)**LSS - 3 DoF Arm **
138		-|(% style="text-align:center" %)[[image:lss-flowarm-left.png||width="300"]]|(% style="text-align:center" %)[[image:lss-flowarm-left-3dof.png||alt="lss-flowarm-left.png" width="300"]]
	134	+[[image:lss-flowarm-left.png||width="300"]]
139	139
140	140	=== Top view ===
141	141
...	...	@@ -147,11 +147,8 @@
147	147
148	148	◄►: Along X
149	149
150		-(% style="width:700px" %)
151		-|(% style="text-align:center" %)**LSS - 4 DoF Arm **|(% style="text-align:center" %)**LSS - 3 DoF Arm **
152		-|(% style="text-align:center" %)[[image:lss-flowarm-top.png||width="300"]]|(% style="text-align:center" %)[[image:lss-flowarm-top-3dof.png||alt="lss-flowarm-top.png" width="300"]]
	146	+[[image:lss-flowarm-top.png||width="300"]]
153	153
154		-
155	155	== Shortcuts ==
156	156
157	157	**Base**: If you hold the SHIFT key while dragging with the mouse you can control base rotation.
...	...	@@ -174,20 +174,14 @@
174	174
175	175	Assuming the gripper has been properly calibrated, The number below represents the opening at the tip. Fully closed should correspond to 0 degrees. We added a feature where the servo stop when it feel a current raising, this allows the user to ask for a full close and have a good grip on the item picked.
176	176
177		-(% style="width:700px" %)
178		-|(% style="text-align:center" %)**LSS - 4 DoF Arm **|(% style="text-align:center" %)**LSS - 3 DoF Arm **
179		-|(% style="text-align:center" %)[[image:lss-flowarm-gripper-view.png||alt="lss-flowarm-gripper-view.jpg"]]|(% style="text-align:center" %)[[image:lss-flowarm-gripper-view-3dof.png||alt="lss-flowarm-gripper-view.jpg"]]
	170	+[[image:lss-flowarm-gripper-view.png||alt="lss-flowarm-gripper-view.jpg"]]
180	180
181		-
182	182	=== Wrist ===
183	183
184	184	The wrist angle can be locked or unlocked. The field allows for user input (click the numbers) or fine adjustments using the arrows.
185	185
186		-(% style="width:700px" %)
187		-|(% style="text-align:center" %)**LSS - 4 DoF Arm **|(% style="text-align:center" %)**LSS - 3 DoF Arm **
188		-|(% style="text-align:center" %)[[image:lss-flowarm-wrist-view.png||alt="lss-flowarm-wrist-view.jpg"]]|(% style="text-align:center" %)[[image:lss-flowarm-wrist-view-3dof.png||alt="lss-flowarm-wrist-view.jpg"]]
	176	+[[image:lss-flowarm-wrist-view.png||alt="lss-flowarm-wrist-view.jpg"]]
189	189
190		-
191	191	=== End effector position ===
192	192
193	193	The position of the end effector can be controlled either by manually entering the information for R (radius), or the Cartesian x, y, z coordinates, or using the arrows.