Changes for page LSS Mechanical

Last modified by Eric Nantel on 2024/07/12 11:24
From version < 40.1 >
edited by Coleman Benson
on 2019/02/18 09:25
To version < 27.5 >
edited by Eric Nantel
on 2019/01/29 15:31
< >
Change comment: allow view right for XWiki.XWikiAdminGroup

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3 3  
4 4  {{toc depth="3"/}}
5 5  
6 -= LSS Features =
6 += Features =
7 7  
8 +With the LSS (Lynxmotion Smart Servo) we incorporated some features which make sense for Robotic applications. Bellow are some of the main features present on the LSS.
9 +
8 8  |(% colspan="2" style="width:350px" %)(((
9 9  == Driving Horn ==
10 10  )))
11 -|(% style="width:350px" %)[[image:LSS - driven horn.png]]|The aluminum driving horn is connected to the output shaft of the final gear in the gear train which is located within the servo. This output shaft has a specific cross section called a “spline” (specifically the “male” version of the spline), and the driving horn has the mating “female” spline. The details of the spline are found below. The driving horn is held in place using an M3 x 8mm pan head machine screw and has the SES standard mounting pattern described below.
13 +|(% style="width:350px" %)[[image:LSS - driven horn.png]]|The driven horn is connected to the output shaft of the final gear in the gear down within the servo. This output shaft has a specific cross section called a “spline” (the “male” version of the spline), and the driven horn has the mating “female” spline. The driven horn is held in place using a 3mm machine screw.
12 12  |(% colspan="2" style="width:350px" %)(((
13 13  == Spline ==
14 14  )))
15 -|(% style="width:350px" %)[[image:LSS - Splines.png||width="400"]]|(((
16 -The spline allows the driven horn to be connected to the output shaft so that it rotates with the shaft. The spline selected is used by other servo manufacturers and as such there are a variety of accessories / horns which are compatible and can be installed on the servo. Alternatives to using the Lynxmotion driving horn include a wheel, a pulley or sprocket, a tubing connector, specific RC horns and more. Note that there are many different spline cross sections, and in order to ensure the a horn can fit onto the output shaft of the servo, it must have the matching / identical spline.
17 -
18 -Although the final gear which (located within the servo) which is connected to the output spline is supported by two radial ball bearings, the output spline is intended to withstand torque as opposed to radial or axial loads.
19 -)))
17 +|(% style="width:350px" %)[[image:LSS - Splines.png||width="400"]]|The spline allows the driven horn to be connected to the output shaft so that it rotates with the shaft. There are many different spline cross sections, and in order to ensure the a horn can fit onto the output shaft of the servo, it must have the matching / identical spline.
20 20  |(% colspan="2" style="width:350px" %)(((
21 21  == Idler Horn ==
22 22  )))
23 -|(% style="width:350px" %)[[image:LSS - idler.png||width="400"]]|(((
24 -The idler horn is not connected to the output spline and is therefore not driven. It is intended to act as a solid free-spinning connection point and can be installed in one of three locations on the servo. Installing the idler horn on the underside of the servo (as shown in the image), in line with the driving output shaft allows a Lynxmotion C-bracket to be used.
25 -
26 -The idler horn sub-assembly consists of a spacer, a 3mm ID x 8mm OD flanged ball bearing (Lynxmotion standard) and the idler horn itself. The idler horn is held in place using an M3 x 10mm pan head machine screw. Documentation in this wiki referring to the "idler horn" normally refers to the idler horn assembly.
27 -)))
21 +|(% style="width:350px" %)[[image:LSS - idler.png||width="400"]]|The idler horn is not driven and allows a free-spinning horn to be placed in one of three locations on the servo. The idler horn sub-assembly consists of a spacer, a ball bearing and the idler horn itself. The idler horn is held in place using a 3mm machine screw.
28 28  |(% colspan="2" style="width:350px" %)(((
29 29  == Case ==
30 30  )))
31 -|(% style="width:350px" %)[[image:LSS - case.png||width="400"]]|(((
32 -The black plastic case which forms the body of the servo is made up of three sections: the  top (highlighted in yellow), the bottom (opposite the driven horn and highlighted in orange), and the middle / center. All three case components on the high speed and standard servos are made of injection-molded ABS plastic, whereas the middle case on the high torque is machined aluminum, anodized black. There are four screws located on the bottom case holding the servo together. Opening the servo without express permission from RobotShop / Lynxmotion staff will void the warranty. There are many threaded inserts in the top and bottom case, and their specifications and functionality are described below.
33 -)))
25 +|(% style="width:350px" %)[[image:LSS - case.png||width="400"]]|The black plastic case which forms the body of the servo is made up of three sections: the bottom (opposite the driven horn), the center and the top. The case components are made of injection-molded ABS plastic. There are four screws which hold together the case which are not meant to be opened.
34 34  |(% colspan="2" style="width:350px" %)(((
35 35  == LED Bar ==
36 36  )))
37 -|(% style="text-align:center; width:350px" %)[[image:LSS - LED.png||width="250"]]|(((
38 -The white opaque LED bar covers an internal RGB LED and has several functions:
39 -
40 -* User can select a color to add an aesthetic / visual flare to their robotic creation
41 -* When changing modes or using the button menu, the LED provides visual feedback of the servo's status / configuration
42 -* If the servo encounters an issue (ex too hot), the servo will go limp and the LED will provide feedback
43 -* In advanced mode, the LED can be made to flash in specific circumstances
44 -)))
29 +|(% style="text-align:center; width:350px" %)[[image:LSS - LED.png||width="250"]]|The LED bar covers an internal RGB LED and allows the user to get visual feedback of the status / configuration of the servo
45 45  |(% colspan="2" style="width:350px" %)(((
46 46  == Connector ==
47 47  )))
48 -|(% style="text-align:center; width:350px" %)[[image:LSS - Connectors.png||width="250"]]|There are two male four-pin 2.54mm (0.1") spaced MOLEX connectors located on either side of the servo. The connector is "keyed"  to prevents mating except with a correctly oriented matching connector, and there is no locking mechanism. The pins are GND, VCC+, Rx (servo receive pin) and Tx (servo transmit pin). The order of the connector pins is reversed from one side of the servo to the other . In order to receive or send a command / signal only one side needs to be connected. The other connector need only be used when adding another servo to the chain.
33 +|(% style="text-align:center; width:350px" %)[[image:LSS - Connectors.png||width="250"]]|There are two four-pin connectors located on either side of the servo. The female pins are GND (0V), V+ (6V to 12V), Rx (receive pin) and Tx (transmit pin). The order of the connector pins is reversed from one side of the servo to the other. In order to receive or send a command / signal only one side needs to be connected. The other connector need only be used when adding another servo to the chain.
49 49  |(% colspan="2" style="width:350px" %)(((
50 50  == Button ==
51 51  )))
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58 58  == Motor ==
59 59  )))
60 60  |(% style="text-align:center; width:350px" %)[[image:LSS - Motor.png||width="250"]]|The brushed DC motor is located within the central part of the case. The motor used in the high torque servo is coreless, while the motor used in the standard and high speed servos is cored.
46 +|(% colspan="2" style="width:350px" %)(((
47 +== Electronics ==
48 +)))
49 +|(% style="text-align:center; width:350px" %) |(((
50 +The electronics inside the servo include the following:
61 61  
52 +* H-bridge motor controller
53 +* Microcontroller (Cortex M0)
54 +* Magnetic position sensor
55 +* Voltage sensor
56 +* Temperature sensor
57 +* Current sensor
58 +)))
59 +
62 62  |(% colspan="2" style="width:350px" %)(((
63 63  = Threaded Inserts =
64 64  )))
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71 71  The SES mounting pattern is based on two holes which are used for mounting objects to a Hitec standard servo horn such as the Hitec HS-422. The mounting pattern involves:
72 72  
73 73  |(% style="width:350px" %)[[image:SES-V2 - SES Pattern (4).png||width="200"]]|(((
74 -**SES V1 Pattern**
75 -
76 76  * 8mm diameter center hole
77 77  * Four equally spaced holes located on a 0.656” diameter circle. Sometimes these four holes are threaded 2-56 (imperial), sometimes they are not
78 78  * Outer diameter is 1” (2.54cm)
79 79  )))
80 -|[[image:SES-V2 - SES Pattern (8).png||width="200"]]|(((
81 -**SES V2 Pattern**
76 +|[[image:SES-V2 - SES Pattern (8).png||width="200"]]|Newer brackets have four additional holes (for a total of eight holes) spaced at 45 degrees to allow for easy mounting.
82 82  
83 -Newer brackets have four additional holes (for a total of eight holes) spaced at 45 degrees to allow for easy mounting.
84 84  
85 -* 8mm diameter center hole
86 -* Eight equally spaced holes located on a 0.656” diameter circle. Holes are threaded 2-56 (imperial).
87 -* Outer diameter is 1” (2.54cm)
88 -)))
89 -|{Image}|(((
90 -**SES V2b Pattern**
79 +(% style="color:inherit; font-family:inherit; font-size:28px" %)Dimensions
91 91  
92 -Several of the brackets have an opening which allows the SES V2 cable(s) to pass through. The aluminum clamping hub also has this opening, so when used with carbon fiber tubing, the wires can be passed within the structure.
93 93  
94 -* X-shaped diameter center hole
95 -* Four equally spaced holes located on a 0.656” diameter circle. Holes are not threaded.
96 -)))
82 +|(% style="width:350px" %)[[image:LSS - Dimensions 1.png||width="400"]]|
83 +|(% style="width:350px" %)[[image:LSS - Top & Bottom.png||width="400"]]|
97 97  
98 -= Dimensions =
99 99  
100 -|(% style="width:350px" %)[[image:LSS-Dimensions-01.png]]|
101 -|[[image:LSS-Dimensions-02.png]]|
102 102  
103 103  
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