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37	37	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]]
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	39	+Important note: The software does not take into consideration if a servo has been improperly assembled as part of the structure. If you see that your arm moves differently than the arm on screen, be sure to check the following:
	40	+
39	39	* Servo ID is correctly assigned to each servo and there are no duplicate IDs
40	40	* Servos have been assembled in correct orientation (as per assembly manual)
41	41	* Servo offsets have been updated if necessary (see procedure below).
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49	49	**STORE OFFSETS**
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51		-The "STORE OFFSETS" button configures 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, orient the arm as shown below (with the gripper closed), and only then click the STORE OFFSETS button.
	53	+During the assembly process, if the servo's driving output horn was not rotated (they are shipped with the 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 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 gripper closed), and only then click the STORE OFFSETS button.
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53		-* Base servo aligned with the x axis
54		-* Shoulder to elbow along z axis (straight up)
55		-* Elbow to wrist along R axis (horizontal at 90 degrees to shoulder to elbow)
56		-* Wrist servo along R axis (parallel to elbow to wrist)
57		-* Gripper servo closed
58		-
59	59	[[image:lss-flowarm-offsets.jpg]]
60	60
61	61	**LIMP**