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1	1	[[image:LSS-FlowArm.png||width="350"]]
2	2
3		-[[image:wiki-download.png]]
	3	+[[[[image:wiki-download.png]]>>https://www.robotshop.com/en/lynxmotion-smart-servo-lss-configuration-software.html||rel="noopener noreferrer" target="_blank"]]
4	4
5	5	**Page Contents**
6	6
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24	24
25	25	In order to understand the features, functionality and nuances of the Lynxmotion smart servos, it is suggested to read through the [[doc:lynxmotion-smart-servo.WebHome]] section of the wiki.
26	26
	27	+= Servo IDs =
	28	+
27	27	Before assembling the arm, each of the IDs assigned to the servos must correspond with what is needed in the software.
28	28
29	29	* Base: 1
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32	32	* Wrist: 4
33	33	* Gripper: 5
34	34
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]]
	37	+To do so, the [[LSS Configuration Software>>doc:lynxmotion-smart-servo.lss-configuration-software.WebHome]] is used. Connect each servo to the LSS Adapter, ensuring the wall adapter and USB cable are connected, and the three-way switch is set to USB. Using the softwar
36	36
37		-Important note: The software does not take into consideration if a servo has been improperly assembled. If you see that your arm moves differently than the arm on screen, be sure to check the following:
38		-
39		-* Servo ID is correctly assigned to each servo and there are no duplicate IDs
40		-* Servos have been assembled in correct orientation (as per assembly manual)
41		-* Servo offsets have been updated if necessary (see procedure below).
42		-
43	43	= Interface =
44	44
45	45	== Header ==
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48	48
49	49	**STORE OFFSETS**
50	50
51		-During the assembly process, if the servo's driving output horn was not rotated (they are shipped with the servo driving horn centered at 0 degrees), and was connected to the brackets at the correct angle (parallel or perpendicular depending on the servo being assembled), there should not be any significant servo offset needed and the arm should match what is displayed on screen. However, should the driving horn have rotated and/or the brackets were not connected at optimal angles, the "STORE OFFSETS" button configures the all of the servo offsets (this makes use of the CO command as part of the [[LSS Communication Protocol>>doc:lynxmotion-smart-servo.lss-communication-protocol.WebHome]]). Before pressing the button, be sure to orient the arm as follows (with the base a, and THEN click the STORE OFFSETS button.
	47	+Press the "Store offsets" button to change the all of the servo offsets (this makes use of the CO command as part of the [[LSS Communication Protocol>>doc:lynxmotion-smart-servo.lss-communication-protocol.WebHome]]).
52	52
53		-[[image:lss-flowarm-offsets.jpg]]
54		-
55	55	**LIMP**
56	56
57	57	Causes all servos to go LIMP (i.e. lose torque). The arm will collapse.
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81	81
82	82	**BAUD**
83	83
84		-The baud rate suggested is 115200, which is the default baud rate of the servos. Should a user have changed the baud rate on the servos, it can be selcted using the drop down. Note that the baud rate must be configured to the same value for all servos in order to work.
	78	+The baud rate suggested is 9600, though other (standard) baud rates can be used.
85	85
86	86	**COM**
87	87

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