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1		-Lynxmotion's Servo Erector Set (S.E.S.) is a modular robotic construction system which allows a near infinite variety of different (and complex) robots and systems. Imagine your next robotic creation, get the parts you need to build it, and then control it! Lynxmotion's first Servo Erector Set came out in 2009 and a wide variety of different kits were created using the V1 system, including several robot arms, a variety of bipeds, a plethora of hexapods and more. The V2 system, released in 2019, is an evolution of the original SES V1 and was created with the following goals:
	1	+= SES V2 Kits =
2	2
3		-* Evolution and modernization of the SES V1 modular construction system
4		-* Add advanced features while reducing mechanical complexity
5		-* SES V1 compatibility (whenever possible)
6		-* Compatibility with several 3rd party manufacturer products
7		-* Improved documentation, design and packaging
	3	+Interested in building complex, custom robots, but not sure where to start? Lynxmotion's Servo Erector Set is a modular robotic construction system which allows a near infinite variety of different robots and configurations. When it came to the V1 system, a wide variety of different kits were created; around 16 different robot arm kits, a variety of bipeds, a plethora of hexapods and more. The V2 selection reduces this to one or two of each kind of robot as demonstrations of the SES V2 system. Feel free to imagine your next robotic creation, purchase parts to build it, and then control it! If you want to build a variety of different robots using the SES system, consider the complete Lynxmotion SES V2 Construction Kit which contains a wide variety of parts so you can design and build to your heart’s content.
8	8
9		-= SES Elements =
	5	+* Robot arm “//name T.B.D.//” V2.1 (5 servos)
	6	+* Robot power arm “//name T.B.D.//” V2.1 (5 servos w/ external gearing)
	7	+* Robot biped “BRAT” V2.1 (6 servos)
	8	+* Robot quadruped “//name T.B.D.//” V2.1 (12 servos)
	9	+* Robot hexapod “//name T.B.D.//” V2.1 (18 servos)
	10	+* Robot humanoid “//name T.B.D.//” V2.1 (20 servos)
	11	+* SES V2 Modular Kit (20 servos)
10	10
11		-== Electronics ==
	13	+= SES V1 vs SES V2 =
12	12
13		-The V1 system was based on the BotBoarduino Arduino-compatible microcontroller and the SSC-32U servo controller. A variety of servo cable extensions, wiring harnesses and related cabling was used to connect everything together. The V2 system focuses on smart servo cables while still permitting RC control. The main electronics for the V2 include only an adapter and power hub.
	15	+The V2 system is an evolution of the original SES V1 system and was created with the following goals:
14	14
15		-== Hardware ==
	17	+* Evolution and modernization of the SES V1 modular system
	18	+* Add features while reducing complexity
	19	+* SES V1 backward compatibility whenever possible
	20	+* Compatible with other 3rd party manufacturer products / technology
	21	+* Improved documentation, design and packaging
16	16
17		-The Lynxmotion Servo Erector Set has always included both metric and imperial dimensions, and the V1 system used almost 150 different screws, nuts, washers, standoffs and related accessories. The V2 reduces this down to less than 10, focusing 2-56 threaded pan head screws and 2-56 nuts for bracket connections, and M3 screws for standoffs and servo horn mounting.
	23	+The SES V2 system is comprised of the following:
18	18
19		-== Main Parts ==
	25	+* Lynxmotion Smart Servo (LSS) motors
	26	+* Electronics, wiring and power
	27	+* Modular metal brackets and hardware
	28	+* Software and code examples
20	20
21		-The Lynxmotion SES V1 system uses several models of Hitec RC servo motors, while the Lynxmotion Smart Servo Motors form the basis of the V2 system. Details about the smart servos, their features and more can be found [[here>>doc:Lynxmotion Smart Servo (LSS).WebHome]]. The first SES system used a variety of different Hitec RC servos, and brackets were designed to adapt these servos to to the Erector Set. Although a standard RC servo case size existed for many Hitec servos, several series of brackets had to be created to accommodate different servo sizes (micro, standard and large). Some brackets were designed to have one specific application (for example the body panels for a specific hexapod design) while most were meant to be as modular as possible. In all around 70 brackets were created for the V1 SES system. Disregarding the Hitec RC servo-specific brackets, the remaining brackets from the V1 can mostly be used for the V2 system. The new Lynxmotion Smart Servos were designed to be used with the v1 bracket system in order to create a modular robotic building system called the Lynxmotion Servo Erector Set (S.E.S.) v2. It is therefore entirely possible to create a new robot which uses elements from both the V1 and V2 systems. The SES V1 provided an option for 1:1 external gearing, and the V2 system also includes the option for adding external gears (1:1 and 1:3) which can be mounted to the servo itself as well as using an external gearbox bracket. Gears use a standard pitch of 16, allowing them to be compatible with other spur gears and gear racks of the same pitch.
	30	+The first version of the Lynxmotion S.E.S. system used a variety of Hitec servo motors and semi modular brackets. Most of the SES V1 and SES V2 can mechanically be used together since they both use the Servo Erector Set mounting pattern. The Lynxmotion Smart Servo Motors are designed to be used with the Lynxmotion modular bracket system in order to create a modular robotic building system called the Lynxmotion Servo Erector Set (S.E.S.) version 2. It is therefore entirely possible to create a new robot which uses elements from both the V1 and V2 systems.
22	22
23		-== Power ==
	32	+**Brackets**: The first SES system used a variety of different Hitec RC servos. Although a standard case size existed for many, three series of brackets had to be created to accommodate different servo sizes (micro, standard and large). It's difficult to provide an exact number of brackets used in the V1 system as many have one specific application (for example the body panels for a specific hexapod). All in all there are around 70 brackets for use with the V1. Eliminating the servo-specific brackets, the remaining brackets from the V1 can mostly be reused for the V2 system. Additional modular brackets have been created for the new LSS motors.
24	24
25		-{More to come}
	34	+**Gearing**: In addition to the various LSS motors, external gears which can be mounted to the servo as well as using a bracket allow additional building options.
26	26
27		-== Software ==
	36	+**Hardware**: The bracket system of the V1 system used almost 150 different screws, nuts, washers, standoffs and related accessories. The V2 reduces this down to less than 10, focusing on 2-56 and 4-40 screws, nuts and standoffs, and M3 for servo horns.
28	28
29		-Software includes a new version of FlowArm designed for using the smart servos, as well as libraries in Arduino, Python and ROS. Additional software to come.
	38	+**Electronics**: The V1 system was based on the BotBoarduino Arduino-compatible microcontroller and the SSC-32U servo controller. A variety of servo cable extensions, wiring harnesses and related cabling was used to connect everything together. The V2 system focuses on smart servo cables while still permitting RC control. The main electronics for the V2 include only an adapter and power hub.
30	30
31		-= SES Mounting Pattern =
	40	+**Software**: Software will include a new version of FlowArm designed for using the smart servos, as well as libraries in Arduino, Python and ROS. Additional software to come.
32	32
33		-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:
	42	+== Electronics Overview ==
34	34
35		-|(% style="width:350px" %)[[image:SES-V2 - SES Pattern (4).png||width="200"]]|(((
36		-**SES V1 Pattern**
	44	+**LSS Adapter**
37	37
38		-* 8mm diameter center hole
39		-* Four equally spaced holes located on a 0.656” diameter circle. Sometimes these four holes are threaded 2-56 (imperial), sometimes they are not
40		-* Outer diameter is 1” (2.54cm)
41		-)))
42		-|[[image:SES-V2 - SES Pattern (8).png||width="200"]]|(((
43		-**SES V2 Pattern**
	46	+This is designed to be used as the main intermediate circuit and can be used in the following configurations:
44	44
45		-Newer brackets have four additional holes (for a total of eight holes) spaced at 45 degrees to allow for easy mounting.
	48	+1. USB cable (from desktop, laptop, tablet etc.)
	49	+1. Wireless "Xbee compatible" RF, Bluetooth, WiFi device etc. (sold separately)
	50	+1. Arduino shield (using male to male headers)
	51	+1. Stacked (using standoffs) above or below a standard Raspberry Pi
46	46
47		-* 8mm diameter center hole
48		-* Eight equally spaced holes located on a 0.656” diameter circle. Holes are threaded 2-56 (imperial).
49		-* Outer diameter is 1” (2.54cm)
50		-)))
51		-|{Image}|(((
52		-**SES V2b Pattern**
	53	+**LSS Power Hub**
53	53
54		-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.
	55	+The LSS Power Hub is a simple / small circuit allowing various functionality.
55	55
56		-* X-shaped diameter center hole
57		-* Four equally spaced holes located on a 0.656” diameter circle. Holes are not threaded.
58		-)))
59		-
60		-
	57	+1. Connect multiple servos or use as alternative to "Y harness".
	58	+1. Separate power feed from a barrel connector
	59	+1. "Inject" additional power when many servos are daisy chained
	60	+1. Connect LSS motors to normal 2.54mm spaced pins using the RC cable adapter.