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1 -Quadruped QBK-02 Symmetric Robot Kit Assembly Instructions Rev. 1
1 +Quadruped QBK-02 Symmetric Robot Kit Assembly Instructions Rev. 1.
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1 -ses-v1.ses-v1-robots.ses-v1-quadrapods.WebHome
1 +servo-erector-set-robots-kits.ses-v1-robots.ses-v1-quadrapods.WebHome
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1 +{{html wiki="false" clean="true"}}
2 +<table border="0" cellpadding="0" cellspacing="0" >
26 26  
27 -<div class="asm">
28 -
29 - <!-- Header -->
30 - <div style="padding: 0.5rem 0 1rem 0; display:flex; flex-wrap:wrap; gap:1.5rem; align-items:flex-start;">
31 - <div style="flex:1 1 300px;">
32 - <h1 class="asm">QBK-02 Symmetric Quadruped Robot Kit Assembly Guide — Rev. 1</h1>
33 - <p><b>Updated December 2014</b></p>
34 - <p><span class="asm-warning">Safety first!</span> Wear eye protection and never touch a powered robot!</p>
35 - <p>Both top and bottom body plates are identical. The guide shows the optional PS2 receiver and mount (BotBoarduino version only). Available kit configurations:</p>
36 - <ul style="margin-top:0.25rem; padding-left:1.4rem; line-height:1.8;">
37 - <li>SQ3 with BotBoarduino + SSC-32</li>
38 - <li>SQ3 with BotBoarduino + SSC-32U</li>
39 - <li>SQ3 with SSC-32 + Bluetooth (FlowBotics)</li>
40 - <li>SQ3 with SSC-32U + Bluetooth (FlowBotics)</li>
4 + <tbody>
5 + <tr>
6 + <td align="left" valign="top" ><b><font face="Verdana, Helvetica, sans-serif" size="2">QBK-02 Symmetric
7 +Quadruped Robot Kit Assembly Instructions Rev. 1.</font></b>
8 + <p><b><font face="Verdana, Helvetica, sans-serif" size="2">Updated
9 +December 2014</font></b></p>
10 + <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye
11 +protection and never touch a powered robot!</font></p>
12 + <p><font face="Verdana, Helvetica, sans-serif" size="2">The
13 +purpose of this guide is to construct the chassis, attach the legs, and
14 +install the electronics. Both the top and bottom body plates are
15 +identical. This guide shows the Lynxmotion PS2 and PS2 mounting plate which are
16 +purchased separately from the kit (used only with BotBoarduino version). There are the following SQ3 kits:</font></p>
17 + <ul>
18 + <li><font face="Verdana, Helvetica, sans-serif" size="2">SQ3 with BotBoarduino and SSC-32</font></li>
19 + <li><font face="Verdana, Helvetica, sans-serif" size="2">SQ3 with BotBoarduino and SSC-32U</font></li>
20 + <li><font face="Verdana, Helvetica, sans-serif" size="2">SQ3 with SSC-32 and Bluetooth (FlowBotics)</font></li>
21 + <li><font face="Verdana, Helvetica, sans-serif" size="2">SQ3 with SSC-32U and Bluetooth (FlowBotics)<br>
22 + </font></li>
41 41   </ul>
42 - <p><b>Note:</b> Follow each step for your specific kit — connections and configuration differ. Loctite may be used on aluminum components but <span class="asm-warning">never on Lexan or plastic parts.</span></p>
43 - </div>
44 - <div style="text-align:center; flex:0 1 280px;">
45 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-finished.jpg" style="max-width:100%; border:1px solid #ccc; border-radius:4px;">
46 - <p style="font-size:12px; color:#666; margin-top:0.3rem;"><b>Completed QBK-02 (with optional PS2 receiver and mount).</b></p>
47 - </div>
48 - </div>
49 49  
50 - <!-- Lexan Preparation -->
51 - <div class="asm-step">
52 - <div class="asm-step-header">
53 - <div class="asm-step-name">QBK-02 — Lexan Preparation</div>
54 - <div class="asm-step-num">&nbsp;</div>
55 - </div>
56 - <div class="asm-step-body">
57 - <div class="asm-step-text">
58 - <p>Remove the protective covering from all Lexan pieces before assembly. The laser cutting process melts the covering into the cut edge. Gently scrape the cut edge with a flat blade screwdriver to lift and peel the covering off. On smaller pieces, use duct tape after scraping. For more info on Lexan, see <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/support/polycarbonate-info-page/" target="_blank">this page</a>.</p>
59 - </div>
60 - <div class="asm-step-figure">
61 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/lexan01.jpg">
62 - <span>Lexan preparation.</span>
63 - </div>
64 - </div>
65 - </div>
25 + <p><font face="Verdana" size="2"><strong><span style="font-weight: normal;">Take note of which version you have
26 +and follow each step accordingly, as the connections and configuration
27 +are different. <br>
28 + </span></strong></font></p>
29 + <p><font face="Verdana" size="2">Note: Loctite / thread lock
30 +can be used on the construction of the aluminum components, though it
31 +is not necessary if the nuts are properly tightened. However,
32 +don't use thread lock with Lexan or plastic, as they are not necessary and may
33 +cause
34 +damage.</font></p>
35 + </td>
36 + <td align="center" valign="top" width="320"><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-finished.jpg" border="2" hspace="10" ><br>
37 + <font size="2"><b>Image of completed Robot. </b><br>
38 +(Shown with optional PS2 receiver and mount)</font></font></td>
39 + </tr>
40 + <tr>
41 + <td style="vertical-align: top;"><br>
42 + </td>
43 + <td style="vertical-align: top;"><br>
44 + </td>
45 + </tr>
46 + <tr>
47 + <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Lexan
48 +Preparation.<br>
49 + <br>
50 + </b></font><font face="Verdana" size="2">The lexan pieces have a
51 +protective covering that needs to be
52 +removed before assembly. When the laser cuts, the covering melts into
53 +the cut edge which can make removal difficult. If you gently scrape the
54 +cut edge with a flat blade screwdriver, the covering can easily be
55 +lifted and peeled off.</font>
56 + <p><font face="Verdana" size="2">On smaller pieces the coverings
57 +can be more difficult to remove. If you have trouble you can gently
58 +scrape the cut edge, then use duct tape to lift the covering off.</font></p>
59 + <p><font face="Verdana" size="2">For further information on
60 +lexan, see <a href="http://www.lynxmotion.com/images/html/infolexa.htm" target="_blank">this
61 +page</a>.</font></p>
62 + <br>
63 + </td>
64 + <td style="vertical-align: top; text-align: center;"><img style="width: 320px; height: 240px;" alt="Lexan Preparation" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/lexan01.jpg" border="2"></td>
65 + </tr>
66 + <tr>
67 + <td colspan="2" align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
68 + </tr>
69 + <tr>
70 + <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 1.
71 +Electronics User Guides</font></b><font size="2"><br>
72 +<br>
73 +If you have the SSC-32 serial servo controller, please read through and understand the
74 + <a href="http://www.lynxmotion.com/images/html/build136.htm">SSC-32
75 +User Guide</a>.<br>
76 +If you have the SSC-32U USB servo controller, please read through and understand the <a href="http://www.lynxmotion.com/images/data/lynxmotion_ssc-32u_usb_user_guide.pdf%22" target="_blank">SSC-32U User Guide</a>.<br>
77 + </font></font><font face="Verdana, Helvetica, sans-serif"><b><font size="2"><br>
78 + </font></b><font size="2">If you purchase the version with the
79 +BotBoarduino, read and understand the <a href="http://www.lynxmotion.com/images/html/build185.htm">BotBoarduino
80 +User Guide</a>.</font></font><br>
81 + <font face="Verdana, Helvetica, sans-serif"><font size="2">The
82 +QBK-02 uses the arduino software downloadable from <a href="https://www.lynxmotion.com/images/html/www.arduino.cc" target="blank" rel="nofollow">www.arduino.cc</a>.
83 + <br>
84 +This guide does not teach you how to use the Arduino programming language.<br>
85 + <br>
86 + </font></font> </td>
87 + <td style="text-align: center;"><img style="width: 320px; height: 240px;" alt="SSC-32" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/ssc32.jpg" border="2"><br>
88 + <font face="Verdana, Helvetica, sans-serif"><font size="2">Figure
89 +1 (SSC-32 Shown as example)</font></font><br>
90 + </td>
91 + </tr>
92 + <tr>
93 + <td style="vertical-align: top;"><br>
94 + </td>
95 + <td style="vertical-align: top;"><br>
96 + </td>
97 + </tr>
98 + <tr>
99 + <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 2
100 +(BotBoarduino and/or SSC-32).<br>
101 + </font></b><font size="2">If
102 +you have the SSC-32 (not SSC-32U) or a kit which uses the BotBoarduino, the robot will need
103 +a separate 9V battery. Both the top plate and bottom
104 +plates are
105 +identical. Place the small black rivet through the 9V metal clip and
106 +push down through one of the two inner holes as shown. It does not
107 +matter which side. This will become the bottom plate.<br>
108 +&nbsp;</font></font>
109 + <table border="0" >
110 + <tbody>
111 + <tr>
112 + <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>1 x</b></font></td>
113 + <td ><br>
114 + </td>
115 + </tr>
116 + <tr>
117 + <td ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/rivet-9V-clip.jpg" border="2" ></font></td>
118 + <td><br>
119 + </td>
120 + </tr>
121 + </tbody>
122 + </table>
123 + </td>
124 + <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-01.jpg" border="2" hspace="10" ><br>
125 + <font size="2">Figure 2 (SSC-32 and/or BotBoarduino)<br>
126 + </font></font></td>
127 + </tr>
128 + <tr>
129 + <td style="vertical-align: top;"><br>
130 + </td>
131 + <td style="vertical-align: top;"><br>
132 + </td>
133 + </tr>
134 + <tr>
135 + <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 3a (SSC-32 and/or BotBoarduino).<br>
136 + </font></b><font size="2">Use six 4-40 x 1/4" hex socket screws
137 +to attach the long aluminum spacers to the bottom body plate.<br>
138 +&nbsp;</font></font>
139 + <table border="0" >
140 + <tbody>
141 + <tr>
142 + <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>6 x</b></font></td>
143 + <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>6 x </b></font></td>
144 + </tr>
145 + <tr>
146 + <td ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/4250hscs.gif" border="2" ></font></td>
147 + <td ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/41875hns.gif" border="2" ></font></td>
148 + </tr>
149 + </tbody>
150 + </table>
151 + </td>
152 + <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-02.jpg" border="2" hspace="10" ><br>
153 + <font size="2">Figure 3a (SSC-32 and/or BotBoarduino).</font></font></td>
154 + </tr>
155 + <tr>
156 + <td colspan="2" align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif" size="2"><br class="pb">
157 + </font></td>
158 + </tr>
159 + <tr>
160 + <td style="vertical-align: top;"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 3b (SSC-32U Alone).<br>
66 66  
67 - <!-- Step 1 -->
68 - <div class="asm-step">
69 - <div class="asm-step-header">
70 - <div class="asm-step-name">QBK-02 — Read Electronics User Guides</div>
71 - <div class="asm-step-num">Step 1 / 15</div>
72 - </div>
73 - <div class="asm-step-body">
74 - <div class="asm-step-text">
75 - <p>Before assembly, read the appropriate user guides for your kit:</p>
76 - <ul style="padding-left:1.2rem; line-height:1.8;">
77 - <li><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/ssc-32/ssc-32-manual/">SSC-32 User Guide</a> (if you have the SSC-32)</li>
78 - <li><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-modules/ssc-32u/WebHome/lynxmotion_ssc-32u_usb_user_guide.pdf" target="_blank">SSC-32U User Guide</a> (if you have the SSC-32U)</li>
79 - <li><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/botboarduino/botboarduino-manual/">BotBoarduino User Guide</a> (if your kit includes a BotBoarduino)</li>
80 - </ul>
81 - <p>The QBK-02 uses the Arduino software from <a href="https://www.arduino.cc" target="_blank">www.arduino.cc</a>. This guide does not teach the Arduino programming language.</p>
82 - </div>
83 - <div class="asm-step-figure">
84 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/ssc32.jpg">
85 - <span>Figure 1 (SSC-32 shown as example).</span>
86 - </div>
87 - </div>
88 - </div>
162 + </font></b></font><font face="Verdana, Helvetica, sans-serif"><font size="2">Use
163 +six 4-40 x 1/4" hex socket screws
164 +to attach the long aluminum spacers to the bottom body plate. Since the
165 +SSC-32U does not need a separate 9V battery, the 9V metal clip is not needed.</font></font><br>
166 + <font face="Verdana, Helvetica, sans-serif"><font size="2">
89 89  
90 - <!-- Step 2 -->
91 - <div class="asm-step">
92 - <div class="asm-step-header">
93 - <div class="asm-step-name">QBK-02 — Install 9V Battery Clip in Bottom Plate</div>
94 - <div class="asm-step-num">Step 2 / 15</div>
95 - </div>
96 - <div class="asm-step-body">
97 - <div class="asm-step-text">
98 - <span class="asm-optional">SSC-32 and/or BotBoarduino kits only — SSC-32U alone: skip this step</span>
99 - <p>The SSC-32 (not SSC-32U) and BotBoarduino kits require a separate 9V battery. Place the small black rivet through the 9V metal clip and push it down through one of the two inner holes as shown. Either side works. This becomes the bottom plate.</p>
100 - <div class="asm-parts">
101 - <div class="asm-part">
102 - <div class="asm-part-info"><div class="asm-part-qty">1x</div><div class="asm-part-name">9V clip rivet assembly</div></div>
103 - <div class="asm-part-img"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/rivet-9V-clip.jpg"></div>
104 - </div>
105 - </div>
106 - </div>
107 - <div class="asm-step-figure">
108 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-01.jpg">
109 - <span>Figure 2 (SSC-32 and/or BotBoarduino).</span>
110 - </div>
111 - </div>
112 - </div>
168 +&nbsp;</font></font>
113 113  
114 - <!-- Step 3 -->
115 - <div class="asm-step">
116 - <div class="asm-step-header">
117 - <div class="asm-step-name">QBK-02 — Attach Long Spacers to Bottom Plate</div>
118 - <div class="asm-step-num">Step 3 / 15</div>
119 - </div>
120 - <div class="asm-step-body">
121 - <div class="asm-step-text">
122 - <p>Use six 4-40 x 1/4" hex socket screws to attach the long aluminum spacers to the bottom body plate. The SSC-32U version does not require the 9V clip from Step 2.</p>
123 - <div class="asm-parts">
124 - <div class="asm-part">
125 - <div class="asm-part-info"><div class="asm-part-qty">6x</div><div class="asm-part-name">4-40 x .250" hex socket screw</div></div>
126 - <div class="asm-part-img"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/4250hscs.gif"></div>
127 - </div>
128 - <div class="asm-part">
129 - <div class="asm-part-info"><div class="asm-part-qty">6x</div><div class="asm-part-name">1 7/8" F/F aluminum spacer</div></div>
130 - <div class="asm-part-img"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/41875hns.gif"></div>
131 - </div>
132 - </div>
133 - </div>
134 - <div class="asm-figures">
135 - <div class="asm-step-figure">
136 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-02.jpg">
137 - <span>Figure 3a (SSC-32 and/or BotBoarduino).</span>
138 - </div>
139 - <div class="asm-step-figure">
140 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/quadrapod-5.jpg">
141 - <span>Figure 3b (SSC-32U alone).</span>
142 - </div>
143 - </div>
144 - </div>
145 - </div>
170 +
171 + <table border="0" >
146 146  
147 - <!-- Step 4 -->
148 - <div class="asm-step">
149 - <div class="asm-step-header">
150 - <div class="asm-step-name">QBK-02 — Attach Controller Spacers to Top Plate</div>
151 - <div class="asm-step-num">Step 4 / 15</div>
152 - </div>
153 - <div class="asm-step-body">
154 - <div class="asm-step-text">
155 - <p>Use the second (top) plate for this step. Use four 4-40 x 1/4" hex socket screws to attach the plastic spacers.</p>
156 - <p><b>Option A — BotBoarduino kits:</b> Use 1/4" M/F plastic spacers (electronics will be stacked). Also connect the 9V wiring harness and servo battery harness to the top plate — either switch hole works.</p>
157 - <p><b>Option B — SSC-32 or SSC-32U alone (FlowBotics):</b> Use 1/4" F/F plastic spacers (no stacking above servo controller). Connect only the battery harness to the top plate. The 9V harness is not needed for the SSC-32U.</p>
158 - <div class="asm-parts">
159 - <div class="asm-part">
160 - <div class="asm-part-info"><div class="asm-part-qty">4x</div><div class="asm-part-name">4-40 x .250" hex socket screw</div></div>
161 - <div class="asm-part-img"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/4250hscs.gif"></div>
162 - </div>
163 - <div class="asm-part">
164 - <div class="asm-part-info"><div class="asm-part-qty">4x</div><div class="asm-part-name">1/4" M/F spacer (BotBoarduino) or F/F spacer (FlowBotics)</div></div>
165 - <div class="asm-part-img"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/4375hns2.gif"></div>
166 - </div>
167 - </div>
168 - </div>
169 - <div class="asm-figures">
170 - <div class="asm-step-figure">
171 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-03.jpg">
172 - <span>Figure 4a (BotBoarduino — M/F spacer).</span>
173 - </div>
174 - <div class="asm-step-figure">
175 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/qbk-top-plate-b.jpg">
176 - <span>Figure 4b (FlowBotics — F/F spacer).</span>
177 - </div>
178 - <div class="asm-step-figure">
179 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-04.jpg">
180 - <span>Figure 4c (SSC-32 / BBuino harness routing).</span>
181 - </div>
182 - <div class="asm-step-figure">
183 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/quadrapod-3.jpg">
184 - <span>Figure 4d (SSC-32U battery harness).</span>
185 - </div>
186 - </div>
187 - </div>
188 - </div>
189 189  
190 - <!-- Step 5 -->
191 - <div class="asm-step">
192 - <div class="asm-step-header">
193 - <div class="asm-step-name">QBK-02 — Attach Legs to Body</div>
194 - <div class="asm-step-num">Step 5 / 15</div>
195 - </div>
196 - <div class="asm-step-body">
197 - <div class="asm-step-text">
198 - <p>Attach the legs using right/left legs as indicated. The rear of the robot has circular cutouts for the power connectors. Legs must be at 45° when the servo receives a 1500µs pulse (legs at 90° to each other as shown). Use eight #2 x .250" tapping screws — two per coxa servo.</p>
199 - <div class="asm-parts">
200 - <div class="asm-part">
201 - <div class="asm-part-info"><div class="asm-part-qty">8x</div><div class="asm-part-name">#2 x .250" tapping screw</div></div>
202 - <div class="asm-part-img"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/2250phts.gif"></div>
203 - </div>
204 - </div>
205 - </div>
206 - <div class="asm-step-figure">
207 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-06.jpg">
208 - <span>Figure 5.</span>
209 - </div>
210 - </div>
211 - </div>
174 + <tbody>
212 212  
213 - <!-- Step 6 -->
214 - <div class="asm-step">
215 - <div class="asm-step-header">
216 - <div class="asm-step-name">QBK-02 — Mount Servo Controller &amp; Install 1" Spacers</div>
217 - <div class="asm-step-num">Step 6 / 15</div>
218 - </div>
219 - <div class="asm-step-body">
220 - <div class="asm-step-text">
221 - <p><b>Option A — BotBoarduino kits:</b> Mount the SSC-32/32U onto the four hex spacers from Step 4a, with the connector facing front. Add four 4-40 x 1" hex spacers on the underside of the top plate to support the BotBoarduino. If using the optional PS2 expansion plate, use the 1" M/F standoffs from that kit.</p>
222 - <p><b>Option B — FlowBotics kits:</b> Mount the SSC-32/32U onto the four hex spacers from Step 4b. Add four 4-40 x 1/4" screws to secure.</p>
223 - <div class="asm-parts">
224 - <div class="asm-part">
225 - <div class="asm-part-info"><div class="asm-part-qty">4x</div><div class="asm-part-name">4-40 x 1" F/F hex spacer</div></div>
226 - <div class="asm-part-img"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/41000hns.jpg"></div>
227 - </div>
228 - </div>
229 - </div>
230 - <div class="asm-figures">
231 - <div class="asm-step-figure">
232 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-12.jpg">
233 - <span>Figure 6a (BotBoarduino kits).</span>
234 - </div>
235 - <div class="asm-step-figure">
236 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/quadrapod-6.jpg">
237 - <span>Figure 6b (SSC-32 or SSC-32U alone).</span>
238 - </div>
239 - </div>
240 - </div>
241 - </div>
176 + <tr>
242 242  
243 - <!-- Step 6 wiring safety note -->
244 - <div class="asm-step">
245 - <div class="asm-step-header">
246 - <div class="asm-step-name">QBK-02 — Screw Terminal Wiring Guidelines</div>
247 - <div class="asm-step-num">Step 6 (wiring prep)</div>
248 - </div>
249 - <div class="asm-step-body">
250 - <div class="asm-step-text">
251 - <p>Use a ~2mm flat blade screwdriver on the screw terminals — rotate until the terminal opens completely. Twist wires by hand before inserting. <span class="asm-warning">Ensure NO stray wires touch between terminals — a short can discharge the battery rapidly, causing heat or fire.</span></p>
252 - <p><span class="asm-warning">DOUBLE CHECK: red wire → (+), black wire → (−). Reversed polarity will damage servos and the board.</span></p>
253 - </div>
254 - <div class="asm-step-figure">
255 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/wiring.jpg">
256 - <span>Figure 6 (top = open terminal, bottom = closed).</span>
257 - </div>
258 - </div>
259 - </div>
178 + <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>6 x</b></font></td>
260 260  
261 - <!-- Step 7 wiring diagrams -->
262 - <div class="asm-step">
263 - <div class="asm-step-header">
264 - <div class="asm-step-name">QBK-02 — Connect Power &amp; Electronics Wiring</div>
265 - <div class="asm-step-num">Step 7 / 15</div>
266 - </div>
267 - <div class="asm-step-body">
268 - <div class="asm-step-text">
269 - <p>Connect power and control wiring per your kit configuration. <span class="asm-warning">DOUBLE CHECK: red → (+), black → (−).</span></p>
270 - <p><b>7a — BotBoarduino + SSC-32 + PS2:</b> Attach power cables per Figure 7a. Wire servos to SSC-32 (Steps 8–9), then connect the SSC-32's VL terminal to the BotBoarduino's VL terminal. Wire with BotBoarduino loose; attach to spacers in Step 12.</p>
271 - <p><b>7b — BotBoarduino + SSC-32U + PS2:</b> Install SSC-32U on standoffs. Set Baud jumper to 9600. Change the jumper behind the screw terminals to EXT (not USB). Remove the VL=VS jumper.</p>
272 - <p><b>7c — SSC-32 + Bluetooth (FlowBotics):</b> Install SSC-32 using four 1/4" 4-40 hex screws. Connect XBee breakout board positive pin to C(+) and negative to D(−). Remove Baud jumper to set 9600. Mount power switches at rear.</p>
273 - <p><b>7d — SSC-32U + Bluetooth (FlowBotics):</b> Same as 7c but using SSC-32U. Mount power switches at rear.</p>
274 - </div>
275 - </div>
276 - <div class="asm-fullwidth">
277 - <div style="display:flex; flex-wrap:wrap; gap:1rem;">
278 - <div style="flex:1 1 280px; text-align:center;">
279 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/botboarduino-ssc-32-ps2-connections.jpg" style="max-width:100%; border:1px solid #ccc; border-radius:4px;">
280 - <p style="font-size:12px; color:#666; margin-top:0.3rem;">Figure 7a — BotBoarduino + SSC-32 + PS2 v2.</p>
281 - </div>
282 - <div style="flex:1 1 280px; text-align:center;">
283 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/ssc-32u-botboarduino-ps2.png" style="max-width:100%; border:1px solid #ccc; border-radius:4px;">
284 - <p style="font-size:12px; color:#666; margin-top:0.3rem;">Figure 7b — BotBoarduino + SSC-32U + PS2 v3.</p>
285 - </div>
286 - <div style="flex:1 1 280px; text-align:center;">
287 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/ssc-32-bluetooth.jpg" style="max-width:100%; border:1px solid #ccc; border-radius:4px;">
288 - <p style="font-size:12px; color:#666; margin-top:0.3rem;">Figure 7c — SSC-32 + Bluetooth.</p>
289 - </div>
290 - <div style="flex:1 1 280px; text-align:center;">
291 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/ssc-32u-bluetooth.jpg" style="max-width:100%; border:1px solid #ccc; border-radius:4px;">
292 - <p style="font-size:12px; color:#666; margin-top:0.3rem;">Figure 7d — SSC-32U + Bluetooth.</p>
293 - </div>
294 - </div>
295 - </div>
296 - </div>
180 + <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>6 x </b></font></td>
297 297  
298 - <!-- Step 8 -->
299 - <div class="asm-step">
300 - <div class="asm-step-header">
301 - <div class="asm-step-name">QBK-02 — Plug Servos into SSC-32</div>
302 - <div class="asm-step-num">Step 8 / 15</div>
303 - </div>
304 - <div class="asm-step-body">
305 - <div class="asm-step-text">
306 - <p>Plug each servo into the SSC-32 with the yellow signal wire toward the inside (centre) of the board and the black wire toward the outside edge. Cable routing can be tidied in a later step.</p>
307 - </div>
308 - <div class="asm-step-figure">
309 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/base17.jpg">
310 - <span>Figure 8 — Servo connector orientation.</span>
311 - </div>
312 - </div>
313 - </div>
182 + </tr>
314 314  
315 - <!-- Step 9 -->
316 - <div class="asm-step">
317 - <div class="asm-step-header">
318 - <div class="asm-step-name">QBK-02 — Verify Servo Wiring to SSC-32</div>
319 - <div class="asm-step-num">Step 9 / 15</div>
320 - </div>
321 - <div class="asm-step-body">
322 - <div class="asm-step-text">
323 - <p>Double-check all connections against Figure 9. Confirm red → (+) and black → (−) throughout. Verify jumpers match the configuration above — VL=VS jumper removed; Tx and Rx jumpers removed. BotBoarduino users: the Tx/Rx wiring from SSC-32 to BotBoarduino is not straight-through — the center/power pin must be removed and connected to pin 12 on the BotBoarduino.</p>
324 - </div>
325 - </div>
326 - <div class="asm-fullwidth">
327 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/sq3-servo-setup.jpg" style="max-width:100%; border:1px solid #ccc; border-radius:4px;">
328 - <p style="font-size:12px; color:#666; margin-top:0.3rem;">Figure 9 — Servo wiring to SSC-32 / SSC-32U.</p>
329 - </div>
330 - </div>
184 + <tr>
331 331  
332 - <!-- Step 10 -->
333 - <div class="asm-step">
334 - <div class="asm-step-header">
335 - <div class="asm-step-name">QBK-02 — Test Logic Power</div>
336 - <div class="asm-step-num">Step 10 / 15</div>
337 - </div>
338 - <div class="asm-step-body">
339 - <div class="asm-step-text">
340 - <p><b>SSC-32 / BotBoarduino:</b> Connect a fresh 9V battery and turn the logic switch On — the green LED on the SSC-32 and the power LED on the BotBoarduino should light.</p>
341 - <p><b>SSC-32U alone:</b> Turn the switch On to power and test the board.</p>
342 - <p><span class="asm-warning">If LEDs do NOT illuminate, immediately power off and double-check all connections.</span> Then turn the switch off.</p>
343 - </div>
344 - </div>
345 - </div>
186 + <td ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/4250hscs.gif" border="2" ></td>
346 346  
347 - <!-- Step 11 -->
348 - <div class="asm-step">
349 - <div class="asm-step-header">
350 - <div class="asm-step-name">QBK-02 — Test Servo Power</div>
351 - <div class="asm-step-num">Step 11 / 15</div>
352 - </div>
353 - <div class="asm-step-body">
354 - <div class="asm-step-text">
355 - <p>Connect the 6V battery pack to the battery harness and flip the servo power switch On (logic switch must be Off).</p>
356 - <p><span class="asm-warning">The LEDs should NOT turn on when only servo power is active. If they do, immediately power off and re-check connections.</span></p>
357 - <p><b>SSC-32U only:</b> After confirming LEDs stay off with servo power on, turn servo power off, then turn logic power (9V) on — LEDs should illuminate and servos should not move.</p>
358 - <p><b>Note:</b> Battery packs are not shipped pre-charged. Charge the battery before proceeding.</p>
359 - </div>
360 - <div class="asm-step-figure">
361 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/batteryc.jpg">
362 - <span>Figure 11 — Battery connection.</span>
363 - </div>
364 - </div>
365 - </div>
188 + <td ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/41875hns.gif" border="2" ></td>
366 366  
367 - <!-- Step 12 -->
368 - <div class="asm-step">
369 - <div class="asm-step-header">
370 - <div class="asm-step-name">QBK-02 — Mount BotBoarduino</div>
371 - <div class="asm-step-num">Step 12 / 15</div>
372 - </div>
373 - <div class="asm-step-body">
374 - <div class="asm-step-text">
375 - <span class="asm-optional">BotBoarduino kits only</span>
376 - <p>Use four 4-40 x 1/4" hex socket screws to mount the BotBoarduino onto the hex spacers on top of the SSC-32, in the orientation shown. If you have the optional PS2 mounting plate, follow those guidelines. Wiring is not shown in Figure 12 for clarity.</p>
377 - <div class="asm-parts">
378 - <div class="asm-part">
379 - <div class="asm-part-info"><div class="asm-part-qty">4x</div><div class="asm-part-name">4-40 x .250" hex socket screw</div></div>
380 - <div class="asm-part-img"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/4250hscs.gif"></div>
381 - </div>
382 - </div>
383 - </div>
384 - <div class="asm-step-figure">
385 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-13.jpg">
386 - <span>Figure 12 (wires removed for clarity).</span>
387 - </div>
388 - </div>
389 - </div>
190 + </tr>
390 390  
391 - <!-- Step 13 -->
392 - <div class="asm-step">
393 - <div class="asm-step-header">
394 - <div class="asm-step-name">QBK-02 — Calibrate Servo Positions</div>
395 - <div class="asm-step-num">Step 13 / 15</div>
396 - </div>
397 - <div class="asm-step-body">
398 - <div class="asm-step-text">
399 - <p><b>SSC-32 (LynxTerm method):</b> Download and install <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-software/lynxterm/" target="_blank">LynxTerm</a>. Disconnect SSC-32 from BotBoarduino and reinstall Tx/Rx jumpers and both Baud jumpers (115200). Power the SSC-32, open LynxTerm, click "All=1500". Click "Reg." → "Read", adjust each servo offset slider to exact 90°, then click "Write" to save to firmware.</p>
400 - <p><b>SSC-32U (Sequencer Utility method):</b> Download the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-software/ssc-32-sequencer/" target="_blank">SSC-32 Servo Sequencer Utility</a>. Connect via USB or Bluetooth. Activate all servos per Figure 9. Click "Configure" and drag each servo knob to exactly 90°. Click "Calibrate" to save offsets to the board. Calibration can also be done via FlowBotics Studio, though it saves locally on the PC rather than to the board.</p>
401 - </div>
402 - <div class="asm-figures">
403 - <div class="asm-step-figure">
404 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/lynxterm.jpg">
405 - <span>Figure 13a — LynxTerm (SSC-32).</span>
406 - </div>
407 - <div class="asm-step-figure">
408 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/RB-Dsp-07.jpg">
409 - <span>Figure 13b — Sequencer Utility (SSC-32U).</span>
410 - </div>
411 - </div>
412 - </div>
413 - </div>
192 + </tbody>
414 414  
415 - <!-- Step 14 -->
416 - <div class="asm-step">
417 - <div class="asm-step-header">
418 - <div class="asm-step-name">QBK-02 — Route &amp; Tidy Cables</div>
419 - <div class="asm-step-num">Step 14 / 15</div>
420 - </div>
421 - <div class="asm-step-body">
422 - <div class="asm-step-text">
423 - <p>Route all cables cleanly through the body and brackets. Leave enough length at each joint for full range of motion — cables must not get pinched by brackets or servos. Use the cable ties included in the kit; electrical tape or wire wrap also works well.</p>
424 - <p><span class="asm-warning">Ensure the main 6V battery is perfectly centred inside the body so the robot walks properly.</span></p>
425 - </div>
426 - <div class="asm-step-figure">
427 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-finished.jpg">
428 - <span>Figure 14 (optional PS2 receiver and mount shown).</span>
429 - </div>
430 - </div>
431 - </div>
194 +
195 + </table>
196 +<br>
197 + </td>
198 + <td style="vertical-align: top; text-align: center;"><img style="width: 320px; height: 240px;" alt="QBK" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/quadrapod-5.jpg" border="2" hspace="10"><br>
199 + <font face="Verdana, Helvetica, sans-serif"><font size="2">Figure 3b (SSC-32U Alone).</font></font><br>
432 432  
433 - <!-- Step 15 -->
434 - <div class="asm-step">
435 - <div class="asm-step-header">
436 - <div class="asm-step-name">QBK-02 — Load Software</div>
437 - <div class="asm-step-num">Step 15 / 15</div>
438 - </div>
439 - <div class="asm-step-body">
440 - <div class="asm-step-text">
441 - <p><b>BotBoarduino kits:</b> Sample PS2 control code is available on <a href="https://github.com/Lynxmotion/Quadrupeds" target="_blank">GitHub</a>. For help with the Arduino library, refer to <a href="https://www.arduino.cc" target="_blank">www.arduino.cc</a>.</p>
442 - <p><b>FlowBotics Studio kits:</b> Install FlowBotics Studio and open the included quadruped project.</p>
443 - </div>
444 - </div>
445 - </div>
201 + </td>
202 + </tr>
203 + <tr>
204 + <td style="vertical-align: top;"><br>
205 + </td>
206 + <td style="vertical-align: top;"><br>
207 + </td>
208 + </tr>
209 + <tr>
210 + <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 4a (BotBoarduino).<br>
211 + </font></b><font size="2">If
212 +you purchased any kit which includes the BotBoarduino, follow this step, otherwise
213 +proceed to step 4b. Use the second (top) plate for this
214 +step. Use four 4-40 x 1/4" hex socket screws to attach the 1/4" long
215 +M/F plastic spacers to the plate. The M/F spacer is required because the
216 +electronics (SSC-32 / 32U) and the BotBoarduino will be stacked one on
217 +top of the other.<br>
218 +&nbsp;</font></font>
219 + <table border="0" >
220 + <tbody>
221 + <tr>
222 + <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>4 x</b></font></td>
223 + <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>4 x </b></font></td>
224 + </tr>
225 + <tr>
226 + <td ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/4250hscs.gif" border="2" ></font></td>
227 + <td ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/4375hns2.gif" border="2" ></font></td>
228 + </tr>
229 + </tbody>
230 + </table>
231 + </td>
232 + <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-03.jpg" border="2" hspace="10" ><br>
233 + <font size="2">Figure 3 (M/F Spacer for BotBoarduino).</font></font></td>
234 + </tr>
235 + <tr>
236 + <td style="vertical-align: top;"><br>
237 + </td>
238 + <td style="vertical-align: top;"><br>
239 + </td>
240 + </tr>
241 + <tr>
242 + <td style="vertical-align: top;"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 4b (SSC-32 or SSC-32U alone).<br>
243 + </font></b></font><font face="Verdana, Helvetica, sans-serif"><font size="2">If
244 +you
245 +purchased a kit with FlowBotics Studio (and therefore do not have a BotBoarduino), follow this step. Use the second (top)
246 +plate for this
247 +step. Use four 4-40 x 1/4" hex socket screws to attach the 1/4" long
248 +F/F plastic spacers to the plate. This F/F spacer is used because there
249 +will not be any additional electronics stacked above the servo controller.<br>
250 + <br>
251 +</font></font>
252 + <table border="0" >
446 446  
254 +
255 + <tbody>
256 +
257 + <tr>
258 +
259 + <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>4 x</b></font></td>
260 +
261 + <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>4 x </b></font></td>
262 +
263 + </tr>
264 +
265 + <tr>
266 +
267 + <td ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/4250hscs.gif" border="2" ></font></td>
268 +
269 + <td ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/4375hns.gif" border="2" ></td>
270 +
271 + </tr>
272 +
273 + </tbody>
274 +
275 +
276 + </table>
277 + </td>
278 + <td style="vertical-align: top; text-align: center;"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/qbk-top-plate-b.jpg" border="2" hspace="10" ><br>
279 + <font face="Verdana, Helvetica, sans-serif">
280 + <font size="2">Figure 3 (F/F Spacer for BotBoarduino).</font></font></td>
281 + </tr>
282 + <tr>
283 + <td style="vertical-align: top;"><br>
284 + </td>
285 + <td style="vertical-align: top;"><br>
286 + </td>
287 + </tr>
288 +<tr>
289 + <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 4a (SSC-32 and/or BotBoarduino).<br>
290 + </font></b><font size="2">Connect the 9V wiring harness and the
291 +servo (Tamiya) battery harness to the top plate. It does not matter which switch
292 +connects to which hole. The SSC-32U does not need the additional 9V wiring harness.<br>
293 +&nbsp;</font></font> </td>
294 + <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-04.jpg" border="2" hspace="10" ><br>
295 + <font size="2">Figure 4a (SSC-32 and/or BotBoarduino).</font></font></td>
296 + </tr>
297 + <tr>
298 + <td colspan="2" align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
299 + </tr>
300 + <tr>
301 + <td style="vertical-align: top;"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 4b (SSC-32U).<br>
302 + </font></b><font size="2">Connect
303 +only the battery harness to the top plate. It does not matter which hole you
304 +use. Note that the 9V wiring harness is not needed for the SSC-32U alone, so
305 +it is not included.<br>
306 + <br>
307 +</font></font></td>
308 + <td style="vertical-align: top; text-align: center;"><img style="width: 320px; height: 240px;" alt="QBK" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/quadrapod-3.jpg" border="2"><br>
309 + <font face="Verdana, Helvetica, sans-serif"><font size="2">Figure 4b (SSC-32U).</font></font><br>
310 + </td>
311 + </tr>
312 + <tr>
313 + <td style="vertical-align: top;"><br>
314 + </td>
315 + <td style="vertical-align: top;"><br>
316 + </td>
317 + </tr>
318 +<tr>
319 + <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 5.<br>
320 + </font></b><font size="2">Attach
321 +the legs as shown, making sure
322 +to use right / left legs as indicated. Figure 7c shows a top-down view. Note the symmetry along both
323 +axes (left side is a mirror of the right side). Use eight #2 x .250"
324 +tapping
325 +screws (two per servo). </font></font><font face="Verdana, Helvetica, sans-serif"><font size="2">The "rear" of the robot
326 +has the circular cutouts for the power connectors. </font></font><font face="Verdana, Helvetica, sans-serif"><font size="2">The
327 +legs should be at 45 degrees when the servo receives a 1500us pulse
328 +(legs at 90 degrees to each other as in figure 7c). If you are unsude
329 +how to do this, please
330 +refer back to the leg assembly guide. <br>
331 +&nbsp;</font></font>
332 + <table border="0" >
333 + <tbody>
334 + <tr>
335 + <td ><b><font face="Verdana, Helvetica, sans-serif" size="2">8 x</font></b></td>
336 + <td ><b><font face="Verdana, Helvetica, sans-serif" size="2">&nbsp;</font></b></td>
337 + </tr>
338 + <tr>
339 + <td ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/2250phts.gif" border="2" ></font></td>
340 + <td ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/holes.gif" border="2" ></font></td>
341 + </tr>
342 + </tbody>
343 + </table>
344 + </td>
345 + <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-06.jpg" border="2" hspace="10" ><br>
346 + <font size="2">Figure 5.</font></font></td>
347 + </tr>
348 + <tr>
349 + <td colspan="2" align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
350 + </tr>
351 +
352 + <tr>
353 + <td style="vertical-align: top;"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 6a (BotBoarduino).
354 +</font></b></font><br>Mount the SSC-32 / SSC-32U onto the four hex
355 +spacers installed in step 4a. Orient the board with the SSC-32's
356 +connector facing the front
357 +of the robot (so as to not interfere with the switches). Use four 4-40
358 +x 1" hex spacers to attach the long aluminum spacers to the underside
359 +of the top body plate. These new spacers will be used&nbsp; to support
360 +the BotBoarduino. <font face="Verdana, Helvetica, sans-serif" size="2">If you purchased or have the optional PS2 expansion plate, use the four 1" M/F
361 +standoffs included with that kit. </font>Wiring will be explained in the next steps.<br>&nbsp;<table border="0" >
362 +
363 + <tbody>
364 + <tr>
365 + <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>4 x</b></font></td>
366 + </tr>
367 + <tr>
368 + <td ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/41000hns.jpg" border="2" ></font></td>
369 + </tr>
370 + </tbody>
371 + </table><br></td>
372 + <td style="vertical-align: top; text-align: center;"><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-12.jpg" border="2" hspace="10" ><br>
373 + </font><font face="Verdana, Helvetica, sans-serif"><font size="2">Figure 6a (Kits w/BotBoarduino).</font></font><br>
374 + </td>
375 + </tr>
376 + <tr>
377 + <td style="vertical-align: top;"><br>
378 + </td>
379 + <td style="vertical-align: top;"><br>
380 + </td>
381 + </tr>
382 + <tr>
383 + <td style="vertical-align: top;"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 6b (FlowBotics).</font></b></font><br>If
384 +you have a version of a kit which only has a servo controller (ex
385 +FlowBotics kits), mount the SSC-32 / SSC-32U onto the four hex spacers
386 +installed in step 4b.
387 +Use four 4-40 x 1" hex spacers to attach the long aluminum spacers to
388 +the underside of the top body plate.Wiring will be explained in the next steps. <br><br><table style="width: 50%;" border="0">
389 +
390 + <tbody>
391 +
392 + <tr>
393 +
394 + <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>4 x</b></font></td>
395 +
396 + <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b> </b></font><br>
397 +</td>
398 +
399 + </tr>
400 +
401 + <tr>
402 +
403 + <td style="width: 50%;"><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/4250hscs.gif" border="2" ></font></td>
404 +
405 + <td style="width: 50%;"><font face="Verdana, Helvetica, sans-serif"><br>
406 +</font></td>
407 +
408 + </tr>
409 +
410 + </tbody>
411 +
412 +</table></td>
413 + <td style="vertical-align: top; text-align: center;"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/quadrapod-6.jpg" border="2" ><br>
414 + <font face="Verdana, Helvetica, sans-serif"><font size="2">Figure 6b (SSC-32 or SSC-32U).</font></font><br>
415 +
416 + </td>
417 + </tr>
418 + <tr>
419 + <td style="vertical-align: top;"><br>
420 + </td>
421 + <td style="vertical-align: top;"><br>
422 + </td>
423 + </tr>
424 +<tr>
425 + <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 6.</font></b><font size="2"><br>In
426 +preparation for connecting the wires, here are some general guidelines
427 +when inserting wires into the screw terminals. Use a ~2mm wide flat
428 +blade screw driver. Rotate
429 +the screw both directions looking into the end of the terminal. When
430 +you see it open up (moving downwards), keep turning until it is open
431 +completely. Wrap / twist the wires by hand to ensure they are aligned
432 +as in Figure 6. Be sure that the wires are fully inserted into the
433 +terminals and that <b>no stray wires touch each other between terminals</b>
434 +as this is a short and can cause the battery to discharge rapidly,
435 +causing heat and possibly fire. <b>DOUBLE CHECK THE RED AND BLACK WIRE
436 +CONNECTED TO THE SCREW TERMINALS</b> - the red wire should go to (+)
437 +and the black wire to (-), if they are reversed, the servos and the
438 +board will be damaged. </font></font><font face="Verdana" size="2">&nbsp;</font>
439 + <p>&nbsp; </p>
440 + </td>
441 + <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/wiring.jpg" border="2" hspace="10" ><br>
442 + <font size="2">Figure 6 (top shows open screw terminal, bottom shows closed).</font></font></td>
443 + </tr>
444 + <tr>
445 + <td colspan="2" align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif" size="2"><br class="pb">
446 + </font></td>
447 + </tr>
448 + </tbody>
449 +</table>
450 +
451 +<font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 7a (BotBoarduino + SSC-32 + PS2 v2).<br>
452 +</font></b></font><font face="Verdana, Helvetica, sans-serif" size="2">This
453 +step applies if you purchased the BotBoarduino version of the SQ3 with
454 +the SSC-32 serial servo controller. The PS2 controller is optional (PS2
455 +mounting plate suggested). Attach the power cables as shown in Figure
456 +7a. Connect the servos to the SSC-32; refer to step 8 and 9
457 +below. Once all servos have been connected (having followed steps 8 and
458 +9), connect the loose power cable from the SSC-32's VL terminal to the
459 +BotBoarduino's VL terminal. We suggest wiring everything with the
460 +BotBoarduno loose, and only attaching it to the spacers at a later
461 +step. <b>DOUBLE CHECK THE RED AND BLACK WIRE
462 +CONNECTED TO THE SCREW TERMINALS</b> - the red wire should go to (+)
463 +and the black wire to (-), if they are reversed, the servos and the
464 +board will be damaged. </font><br>
465 +<p align="center"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/botboarduino-ssc-32-ps2-connections.jpg" border="0" hspace="10" ><br>
466 +&nbsp;<br>
467 +<font face="Verdana, Helvetica, sans-serif" size="2">Figure 7a.
468 +BotBoarduino - SSC-32 - PS2 v2</font></p>
469 +
470 +<font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 7b (BotBoarduino + SSC-32U + PS2 v2/3).<br>
471 +</font></b></font><font face="Verdana, Helvetica, sans-serif" size="2">This step applies if you purchased the BotBoarduino version of the SQ3 with the SSC-32U USB servo controller. </font><font face="Verdana, Helvetica, sans-serif" size="2">The PS2 controller is optional. </font><font face="Verdana, Helvetica, sans-serif" size="2">Install the SSC-32U onto the body onto the standoffs shown in step 4, and secure using four 1/4" 4-40 hex standoffs.
472 +Connect the serial to XBee breakout board's positive pin to pin C (+)
473 +on the SSC-32 and the negative pin to pin D (-) on the SSC-32. Notice
474 +the Baud rate jumper is set to 9600. You can install the power
475 +switch(es) to the body in the holes at the rear of the robot. <b>DOUBLE
476 +CHECK THE RED AND BLACK WIRE CONNECTED TO THE SCREW TERMINALS</b>
477 +- the
478 +red wire should go to (+) and the black wire to (-), if they are
479 +reversed, the servos and the board will be damaged. Change the jumper
480 +located behind the screw terminals to EXT rather than USB (so the logic
481 +voltage is powered via the 9V battery rather than the USB cable).
482 +Remove the VL=VS jumper.</font><br>
483 +<div style="text-align: center;"><img style="width: 600px;" alt="BotBoarduino + SSC-32U + PS2v3" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/ssc-32u-botboarduino-ps2.png"><br>
484 +<font face="Verdana, Helvetica, sans-serif" size="2">Figure 7b.
485 +BotBoarduino - SSC-32U - PS2 v3</font><br>
447 447  </div>
487 +<font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 7c (SSC-32 + Bluetooth).<br>
488 +</font></b></font><font face="Verdana, Helvetica, sans-serif" size="2">This
489 +approach applies if you plan to control the robot
490 +from the computer using a Bluetooth device (as is the case with
491 +FlowBotics Studio). Attach the power cables as shown in Figure 7b.
492 +Install the SSC-32 onto the body using four 1/4" x 4-40 hex screws.
493 +Connect the serial to XBee breakout board's positive pin to pin C (+)
494 +on the SSC-32 and the negative pin to pin D (-) on the SSC-32. Remove
495 +the Baud jumper to set the Baud rate to 9600. You can install the power
496 +switch(es) to the body in the holes at the rear of the robot. <b>DOUBLE
497 +CHECK THE RED AND BLACK WIRE CONNECTED TO THE SCREW TERMINALS</b> - the
498 +red wire should go to (+) and the black wire to (-), if they are
499 +reversed, the servos and the board will be damaged.</font><br>
500 +<p align="center"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/ssc-32-bluetooth.jpg" border="0" hspace="10" ><br>
501 +&nbsp;<br>
502 +<font face="Verdana, Helvetica, sans-serif" size="2">Figure 7c. SSC-32
503 +- Bluetooth<br>
504 +</font></p>
505 +
506 +<font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 7d (SSC-32U + Bluetooth).<br>
507 +</font></b></font><font face="Verdana, Helvetica, sans-serif" size="2"> This approach applies if you plan to control the robot
508 +from the computer using a Bluetooth device (as is the case with
509 +FlowBotics Studio). Attach the power cables as shown in Figure 7b.
510 +Install the SSC-32 onto the body using four 1/4" x 4-40 hex screws.
511 +Connect the serial to XBee breakout board's positive pin to pin C (+)
512 +on the SSC-32 and the negative pin to pin D (-) on the SSC-32. The power
513 +switch(es) should be connected to the body using the holes at the rear of the robot. <b>DOUBLE
514 +CHECK THE RED AND BLACK WIRE CONNECTED TO THE SCREW TERMINALS</b> - the
515 +red wire should go to (+) and the black wire to (-), if they are
516 +reversed, the servos and the board will be damaged.</font><br>
517 +<div style="text-align: center;"><img style="width: 600px;" alt="SSC-32U + Bluetooth" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/ssc-32u-bluetooth.jpg"><br>
518 +<font face="Verdana, Helvetica, sans-serif" size="2">Figure 7d. SSC-32U - Bluetooth</font><br>
519 +</div>
520 +<font face="Verdana, Helvetica, sans-serif" size="2">
521 +</font>
522 +<table border="0" cellpadding="0" cellspacing="0" >
523 +
524 + <tbody>
525 +
526 + <tr>
527 + </tr>
528 + <tr>
529 + <td colspan="2" align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif" size="2"><br class="pb">
530 + </font></td>
531 + </tr>
532 + <tr>
533 + <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 8.<br>
534 + </font></b><font size="2">Plug the servos into the SSC-32 as
535 +shown in figure 9 with the yellow signal wire towards the inside of the
536 +board. Simply plug in the servo associated with the function to the
537 +corresponding pin (see step 9). Once again, be sure the black wire is
538 +near the outside of the board and the yellow wire is near the center of
539 +the board as shown in figure 8. Proper cable routing can be done later.</font></font></td>
540 + <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"> <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/base17.jpg"><br>
541 + <font size="2">Figure 8.</font></font></td>
542 + </tr>
543 + <tr>
544 + <td colspan="2" align="left" valign="top" >
545 + <p align="left"><font face="Verdana, Helvetica, sans-serif" size="2"><b>Step 9.</b><br>
546 + </font> <font face="Verdana, Helvetica, sans-serif" size="2">Double
547 +check your connections against the figure below. Be sure that red wires
548 +go to positive (+) and black wires go to negative (-). Also be sure
549 +that your jumpers are connected the exact same way as detailed above.
550 +Note that the VL=VS jumper on the SSC-32 is removed, as are the Tx and
551 +Rx jumpers. Depending on the configuration and code, you may also need
552 +to change the baud rate jumpers. The sample code for the BotBoarduino
553 +uses 38.4 baud, whereas in order to use the Bluetooth module, the Baud rate
554 +needs to be set to 9600. Note that the wiring from the SSC-32's Tx / Rx
555 +pins to the BotBoarduino's pins are NOT in line - the red / center /
556 +power pin needs to be removed and connected to pin 12 on the
557 +BotBoarduino.<br>
558 +&nbsp;</font><br>
559 + </p>
560 + <p align="center"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/sq3-servo-setup.jpg" border="0" hspace="10" ><br>
561 +&nbsp;<br>
562 + <font face="Verdana, Helvetica, sans-serif" size="2">Figure 7c.
563 +Servo wiring to SSC-32 / SSC-32U<br>
564 +</font></p>
565 + </td>
566 + </tr>
567 + <tr>
568 + <td colspan="2" align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif" size="2"><br class="pb">
569 + </font></td>
570 + </tr>
571 + <tr>
572 + <td colspan="2" align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
573 + </tr>
574 + <tr>
575 + <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 10 (SSC-32 and/or BotBoarduino).
576 +<br>
577 + </font></b><font size="2">If you have a kit with an SSC-32
578 +and/or BotBoarduino, connect a fresh / charged 9v battery to the
579 +battery
580 +clip to power the electronics and turn the On/Off switch to On. You
581 +should see the green LED in the upper right corner of the SSC-32 switch
582 +on. There is also a power LED on the BotBoarduino. If you have an
583 +SSC-32U alone, turn On the switch to power (and test) the board.</font></font>
584 +
585 + <br>
586 +<p><font face="Verdana, Helvetica, sans-serif" size="2"><b>If
587 +these LEDs do not switch on, IMMEDIATELY power off your robot and
588 +double check your connections.</b></font></p>
589 + <p>Turn this switch off.<br>
590 + </p>
591 +
592 + </td>
593 + </tr>
594 + <tr>
595 + <td colspan="2" align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
596 + </tr>
597 + <tr>
598 + <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 11a</font></b></font><font face="Verdana, Helvetica, sans-serif"><b><font size="2"> (SSC-32 and/or BotBoarduino)</font></b></font><font face="Verdana, Helvetica, sans-serif"><b><font size="2">.&nbsp;<br>
599 + </font></b><font size="2">Connect the 6V battery pack to the
600 +battery harness to power the servos. Flip the switch to turn the servo
601 +power on. <b><br>
602 + <br>
603 +The LEDs should NOT switch on this time (since the logic switch to the 9V battery is off). <br>
604 +If they do turn ON, </b></font></font>
605 + <font face="Verdana, Helvetica, sans-serif" size="2"><b>
606 +immediately power off your robot and double check your connections.</b></font>
607 + <p><font face="Verdana, Helvetica, sans-serif" size="2">Note, our
608 +battery packs do NOT come charged. You will need to charge your battery
609 +before proceeding to the next tutorial. View <a href="http://www.lynxmotion.net/viewtopic.php?f=26&amp;t=5715#p57728">this
610 +page</a> for some tips. <br>
611 + </font> </p>
612 + </td>
613 + <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/batteryc.jpg" border="2" hspace="10" ><br>
614 + <font size="2">Figure 11.<br>
615 + <br>
616 + </font></font></td>
617 + </tr>
618 +
619 + <tr>
620 + <td style="vertical-align: top;"><br>
621 + </td>
622 + <td style="vertical-align: top;"><br>
623 + </td>
624 + </tr>
625 + <tr>
626 + <td style="vertical-align: top;"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 11b</font></b></font><font face="Verdana, Helvetica, sans-serif"><b><font size="2"> (SSC-32U)</font></b></font><font face="Verdana, Helvetica, sans-serif"><b><font size="2">.&nbsp;<br>
627 + </font></b><font size="2">Connect the 6V battery pack to the
628 +battery harness to power the servos. Flip the switch to turn the servo
629 +power (the switch to the 9V battery should be OFF). <b><br>
630 +<br>
631 +The LEDs should NOT switch on (since the logic switch to the 9V battery is off). <br>
632 +If they do turn ON, </b></font></font>
633 + <font face="Verdana, Helvetica, sans-serif" size="2"><b>
634 +immediately power off your robot and double check your connections.</b></font>
635 + <font face="Verdana, Helvetica, sans-serif" size="2"><br>
636 + <br>
637 +If they did not turn on, now turn off the servo power and thrn on the
638 +logic power (9V). The LEDs should turn on, and the servos should not
639 +move.<br>
640 + <br>
641 +Note, our
642 +battery packs do NOT come charged. You will need to charge your battery
643 +before proceeding to the next tutorial. View <a href="http://www.lynxmotion.net/viewtopic.php?f=26&amp;t=5715#p57728">this
644 +page</a> for some tips. </font></td>
645 + <td style="vertical-align: top;"><br>
646 + </td>
647 + </tr>
648 + <tr>
649 + <td style="vertical-align: top;"><br>
650 + </td>
651 + <td style="vertical-align: top;"><br>
652 + </td>
653 + </tr>
654 +<tr>
655 + <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 12 (BotBoarduino).<br>
656 + </font></b><font size="2">If your kit includes a BotBoarduino, use
657 +four 4-40 x 1/4" hex socket screws
658 +to mount the BotBoarduino to the hex spacers in the orientation shown,
659 +on top of the SSC-32. The figure does not show the wiring for clarity.
660 +If you have the optional PS2 mounting plate, follow those guidelines
661 +for assembly. Be sure to have the <br>
662 + <br>
663 + </font></font>
664 + <table border="0" >
665 + <tbody>
666 + <tr>
667 + <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>4 x</b></font></td>
668 + </tr>
669 + <tr>
670 + <td ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/4250hscs.gif" border="2" ></font></td>
671 + </tr>
672 + </tbody>
673 + </table>
674 + </td>
675 + <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-13.jpg" border="2" hspace="10" ><br>
676 + <font size="2">Figure 12. Mount the BotBoarduino<br>
677 +(wires removed for clarity)<br>
678 + </font></font></td>
679 + </tr>
680 + <tr>
681 + <td style="vertical-align: top;"><br>
682 + </td>
683 + <td style="vertical-align: top;"><br>
684 + </td>
685 + </tr>
686 +<tr>
687 + <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 13a (SSC-32).<br>
688 + </font></b><font size="2">It is likely that when you assembled
689 +the legs, the positions were not exactly at 90 degrees (though be sure to get them as close as you can). You have two
690 +options to fine tune the angle of each of the servos, the first of which is to use
691 +the old <a href="http://www.lynxmotion.com/p-567-free-download-lynxterm.aspx" target="_blank">Lynxterm software</a>.
692 +Download and install Lynxterm. Lynxterm needs a physical connection to
693 +the computer and as such cannot use the Bluetooth module. If your
694 +computer does not have a serial port, you will need a serial to USB
695 +adapter.<br>
696 + <br>
697 +Disconnect the SSC-32 from the BotBoarduino and reinstall
698 +the Tx / Rx jumpers, as well as both Baud jumpers (so the baud rate is
699 +at 115200).
700 +Power the SSC-32 (both VL and VS), open Lynxterm, select the correct
701 +COM port and click "All=1500". The servos should all move to 90
702 +degrees. Next, click "Reg." and in the new window, click "Read".
703 +Position each servo to exactly 90 degrees by using either the slider or
704 +by typing in the offset (changing the Channel at the right of the
705 +window for each servo used). Once this is done, click "Write", which
706 +then
707 +modified the firmware on the SSC-32. <br>
708 + <br>
709 + </font></font> </td>
710 + <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/lynxterm.jpg" border="2" hspace="10" ><br>
711 + <font size="2">Figure 13a. Lynxterm <br>
712 + </font></font></td>
713 + </tr>
714 +
715 +
716 + <tr>
717 + <td style="vertical-align: top;"><font face="Verdana, Helvetica, sans-serif"><b><font size="2"></font></b></font><font face="Verdana, Helvetica, sans-serif"><font size="2"><br>
718 +</font></font></td>
719 + <td style="vertical-align: top;"><br>
720 + </td>
721 + </tr>
722 + <tr>
723 + <td style="vertical-align: top;"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 13c (SSC-32U).<br>
724 + </font></b><font size="2">If you have the SSC-32U alone, you can calibrate / fine tune each joint using the <a href="http://www.lynxmotion.com/p-895-free-download-ssc-32-servo-sequencer-utility-created-using-flowbotics-studio.aspx" target="_blank">SSC-32 Servo Sequencer Utility</a>
725 +(download and install). Note that fora quadruped to walk properly, the
726 +legs must be close to perfectly tuned. Connect the SSC-32U to the
727 +computer via USB (if you have the Bluetooth module installed, you can
728 +connect via Bluetooth; the green light on the Bluetooth will become
729 +solid once a
730 +connection has been established). By default, only four servos are
731 +active within the utility software. Check off all servos marked in
732 +figure 7c within the software in order to activate them.<br>
733 + <br>
734 +Click the "configure" button towards the bottom right of the window and
735 +a
736 +knob will appear next to each servo. To
737 +position each of the servos to exactly 90 degrees, click the knob and
738 +drag it up and down to offset that servo's position. Do this for each
739 +servo until their position is exactly at 90 degrees. Once all servos
740 +have been adjusted to correct any small mechanical offset, press
741 +"calibrate"
742 +once again and the ofsets will be saved to the board.<br>
743 + <br>
744 +</font></font><font face="Verdana, Helvetica, sans-serif"><font size="2">The servo
745 +calibration can also be done via FlowBotics Studio, though the
746 +calibration is saved on the specific computer as opposed to the SSC-32U.</font></font><br>
747 +</td>
748 + <td style="vertical-align: top; text-align: center;"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/RB-Dsp-07.jpg" border="1"><br>
749 + <font face="Verdana, Helvetica, sans-serif"><font size="2">Figure 14 (SSC-32 Utility).</font></font><br></td>
750 + </tr>
751 + <tr>
752 + <td style="vertical-align: top;"><br>
753 + </td>
754 + <td style="vertical-align: top;"><br>
755 + </td>
756 + </tr>
757 +<tr>
758 + <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 14.<br>
759 + </font></b><font size="2">The robot should now be wired
760 +and calibrated correctly, but with wires going everywhere. It is now a matter of
761 +cleanly routing the cables. You can unplug and re-plug the wires as needed,
762 +especially for the servos, and well as run them through the body and
763 +brackets. Be certain to reconnect the correctly and leave enough length so each joint in the legs
764 +are able to move freely and reach all positions and do not get pinched
765 +by the brackets or servos. Use the cable ties provided in the kit to
766 +connect the wires together. Alternatively, black electrical tape or
767 +wire wrap also look nice. <br>
768 + <br>
769 +Ensure the main 6V battery is perfectly centered inside the body to ensure the
770 +robot walks properly.<br>
771 + <br>
772 + </font></font>
773 + </td>
774 + <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-finished.jpg" border="2" hspace="10" ><br>
775 + <font size="2">Figure 14 (Optional PS2 receiver and PS2 mounting plate)</font></font></td>
776 + </tr><tr>
777 + <td style="vertical-align: top;"><br>
778 + </td>
779 + <td style="vertical-align: top;"><br>
780 + </td>
781 + </tr>
782 + <tr>
783 + <td style="vertical-align: top;"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 15.<br>
784 + </font></b><font size="2"><br>
785 +If you purchase a kit which uses the BotBoarduino, sample code (based on PS2 control) can be found <a href="https://github.com/Lynxmotion/Quadrupeds" target="_blank">here</a>.<br>
786 +If you have difficulties installing the library or code, please refer to www.arduino.cc for additional information.<br>
787 + <br>
788 +If you purchased a kit which uses FlowBotics Studio, you can install and run FlowBotics Studio and open the quadruped project.<br>
789 +</font></font></td>
790 + <td style="vertical-align: top;"><br>
791 + </td>
792 + </tr>
793 +
794 + </tbody>
795 +</table>
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