Wiki source code of Lynxmotion Smart Servo (LSS)
Version 125.1 by Eric Nantel on 2019/02/15 08:03
Hide last authors
 |
103.1 | 1 | [[image:LSS-ST1-Horns.png||height="350" width="350"]] |
| 2 | |||
 |
106.1 | 3 | = Table of contents = |
 |
108.1 | 4 | |
| |
103.1 | 5 | {{toc/}} |
| 6 | |||
| |
69.1 | 7 | = Description = |
| |
90.1 | 8 | |
| |
121.1 | 9 | The Lynxmotion Smart Servo (LSS) is a new, compact, modular and configurable actuator designed to be an evolution of the standard RC servo for use in multi degree-of-freedom robotics, animatronics, custom RC projects and more. The servo lineup currently includes three “smart servos” which appear physically the same, sharing the same dimensions, mounting points and output spline, but differing in maximum torque and speed, and . The servos are core modules of the next generation Lynxmotion Servo Erector Set (S.E.S.) modular robotic construction system and a wide variety of modular brackets, mechanics and electronics have been designed around them. "Smart" means each servos' parameters are user modifiable and configurable, there is sensor feedback, built-in safety features, and they are although meant to be connected to a microcontroller, can be used as advanced RC actuators. The custom LSS serial communication protocol was built upon the SSC-32 / 32U protocol and makes communicating with, controlling and configuring the servos easy and intuitive. |
| |
33.1 | 10 | |
| |
123.1 | 11 | NOTE: The Lynxmotion Smart Servo motors, as well as the SES modular construction system is NOT open source. As such, RobotShop cannot provide the schematics for the electronics, nor any details relating to the components used internally. Opening the servos without the express permission from RobotShop will void the warranty. |
| 12 | |||
| |
69.1 | 13 | = Features = |
| |
90.1 | 14 | |
| |
1.1 | 15 | * Serial, RC PWM and continuous rotation modes |
| |
123.1 | 16 | * Human readable LSS Serial Communication Protocol |
| |
1.1 | 17 | * Button Menu, RGB LED |
| |
109.1 | 18 | * Feedback: voltage, current, position, temperature, operating status and more. |
| 19 | * Configurable: center position, angular range, direction, speed and much more. | ||
| |
110.1 | 20 | * All metal gears for high torque and reduced wear |
| |
1.1 | 21 | * Libraries: Arduino, Python, ROS |
| |
109.1 | 22 | * 12V nominal (3S LiPo ideal), 6-12V operation* |
| |
1.1 | 23 | * Standard 24T output spline (compatible with accessories made for Hitec 422, 645MG servos) |
| 24 | * Many Mounting points, brackets, accessories | ||
| 25 | |||
| |
109.1 | 26 | ~* Note that the servo's maximum speed and available torque both decrease with lower input voltage |
| 27 | |||
| |
102.1 | 28 | = Specifications = |
| 29 | |||
| |
109.1 | 30 | The easiest way to differentiate between the three models is based on the sticker, located at the rear of the servo. Lynxmotion software automatically determines which model is connected. |
| 31 | |||
| |
121.1 | 32 | Detailed product specifications regarding voltage, torque, speed, temperature and more can be found on the [[LSS - Specifications>>doc:.LSS - Specifications.WebHome]] page. |
| 33 | |||
| |
102.1 | 34 | = Pinout = |
| 35 | |||
| |
121.1 | 36 | |(% rowspan="4" style="width:350px" %){{lightbox image="LSS-SIDE-PinOut.png"/}}|(% style="width:35px" %)[[image:Lyxnmotion [email protected]]]|**Servo Rx pin**: In serial mode, this pin should be connected to a 5V TTL serial pin. In RC mode, the pin should be connected to an 5V RC PWM pin |
| 37 | |[[image:Lyxnmotion [email protected]]]|**Servo Vcc pin**: Refer to the Voltage section of the [[LSS - Specifications>>doc:.LSS - Specifications.WebHome]] page to understand which voltages are meant to be connected to this pin. | ||
| 38 | |[[image:Lyxnmotion [email protected]]]|**Ground (GND)**: This pin should be connected to both the communication sources' ground, as well as that of the power source (principle of "common ground"). | ||
| 39 | |(% style="text-align:center; vertical-align:middle" %)[[image:Lyxnmotion [email protected]]]|**Servo Tx pin**: In serial mode, this pin sends the output from query commands. In RC mode, the cable does not need to be connected as there is no output. | ||
| |
113.1 | 40 | |
| |
102.1 | 41 | = Wiring = |
| 42 | |||
| |
122.1 | 43 | |(% style="width:350px" %){{lightbox image="LSS-WIRING-Single.PNG"/}}|((( |
| |
123.1 | 44 | In order to daisy chain one servo to the next (serial mode only), rollover serial cables are used. Although the wires are straight, one connector is rotated 180 degrees with respect to the other. |
| |
122.1 | 45 | ))) |
| |
123.1 | 46 | |{{lightbox image="LSS-WIRING-Multiple.PNG"/}}| |
| |
117.1 | 47 | |
| |
102.1 | 48 | = Power = |
| 49 | |||
| |
123.1 | 50 | The servos are meant to be powered from either a battery source or a DC wall adapter. When selecting a power source, ensure it will be able to provide sufficient current to power all of the servos in the project. Please refer to the [[LSS - Specifications>>doc:.LSS - Specifications.WebHome]] page for information regarding input voltage and current for each servo motor. |
| |
102.1 | 51 | |
| 52 | = Dimensions = | ||
| |
103.1 | 53 | |
| 54 | |||
| |
123.1 | 55 |