Last modified by Eric Nantel on 2023/01/20 15:28
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4 <td valign="top" align="left"><b><font size="2" face="Verdana">AL5 Programming Tutorial - PS2 RC<br>
5 Rev. 1.</font></b>
6 <p><b><font size="2" face="Verdana">Updated 01/11/2012</font></b></p>
7 <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye protection and never touch a powered robot!</font></p>
8 <p><font face="Verdana, Helvetica, sans-serif" size="2">The purpose of this guide is to set up the robot arm to be controlled via a Playstation
9 2 game controller. This can be done using a Bot Board II with Basic Atom Pro 28 with or without a SSC-32 and demonstrates both methods.</font></p>
10 <p><font face="Verdana, Helvetica, sans-serif" size="2"><b>Note</b>, the PS2 control programs have been verified to work with Lynxmotion wireless controllers. We cannot guarantee that non-Lynxmotion controllers will
11 work.</font></p>
12
13 <font size="2" face="Verdana, Helvetica, sans-serif"><b>What you'll need to get started:</b><br></font>
14 <ul>
15 <li><font size="2" face="Verdana, Helvetica, sans-serif">Any of our AL5 arms</font></li>
16 <li><font size="2" face="Verdana, Helvetica, sans-serif">Bot Board II with Basic Atom Pro 28</font></li>
17 <li><font size="2" face="Verdana, Helvetica, sans-serif">SSC-32 (optional)</font></li>
18 <li><font size="2" face="Verdana, Helvetica, sans-serif">PS2 Controller and cable</font></li>
19 <li><font size="2" face="Verdana, Helvetica, sans-serif">6" Servo Extender Cable</font></li></ul></td>
20 <td align="center" valign="top" width="320"><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5-programming-tutorial-ps2-botboard/WebHome/al5ps21.jpg" border="2" hspace="10" width="320" height="240"><br>
21 <b>Image of arm.</b></font></td>
22 </tr>
23 <tr>
24 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
25 </tr>
26 <tr>
27 <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step 1</font><font face="Verdana"><b><font size="2">. SSC-32 and Bot BoardII/Basic Atom Pro 28</font></b></font></b><br>
28 </font>
29 <p><font face="Verdana" size="2">To connect the Bot Board II to the SSC-32, you will need to modify a 6" servo extender cable. Remove the header pins from the cable so you
30 have two female ends. Then use an exacto knife to gently pry the tab up to pull the red wire free on one end. Cover the exposed female connector
31 with heat shrink to avoid accidental shorts.</font></p>
32 <p><font face="Verdana" size="2">Remove the TX and RX jumpers from the lower-right corner of the SSC-32, and plug the unmodified end of the
33 cable in. Yellow on TX, red on RX, and black on ground.</font></p></td>
34 <td align="center" valign="top"><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5-programming-tutorial-ps2-botboard/WebHome/scmod01.jpg" alt="" width="320" height="240" hspace="10" border="2"><br>
35 Figure 1.</font></td>
36 </tr>
37 <tr>
38 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
39 </tr>
40 <tr>
41 <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step 2<font face="Verdana"><b>. SSC-32 and Bot BoardII/Basic Atom Pro 28</b></font></font></b><br>
42 </font><font size="2" face="Verdana">Wire the Bot Board II and SSC-32 as shown in the schematic and tables below. Make sure the jumpers are all correct.
43 Install the boards as shown in Figure 2 after all connections are complete and have been checked.</font></td>
44 <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5-programming-tutorial-ps2-botboard/WebHome/al5ps22.jpg" border="2" hspace="10" width="320" height="240"><br>
45 Figure 2.</font></td>
46 </tr>
47 <tr>
48 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
49 </tr>
50 <tr>
51 <td valign="top" align="left" colspan="2"><font face="Verdana"><b><font size="2">Step 3<font face="Verdana"><b>. SSC-32 and Bot BoardII/Basic Atom Pro 28</b></font></font></b><br>
52 <font size="2">Configure the Bot Board as illustrated in Table 3-1. Configure the SSC-32 as illustrated in Table 3-2.<br>
53 </font></font><font size="2" face="Verdana">&nbsp;</font>
54 <div align="center">
55 <center>
56 <table border="0" width="600">
57 <tbody><tr>
58 <td width="33%" valign="top">
59 <table border="0" >
60 <tbody><tr>
61 <td >
62 <table border="1" bordercolor="#000000" width="250">
63 <tbody><tr>
64 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="3"><font size="2" face="Verdana">Bot Board II
65 Jumpers</font></td>
66 </tr>
67 <tr>
68 <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
69 <td width="115%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">6.0vdc battery to VS</font></td>
70 </tr>
71 <tr>
72 <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Enable</font></td>
73 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Speaker</font></td>
74 </tr>
75 <tr>
76 <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
77 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">I/O 4-7 Power Bus to 5vdc</font></td>
78 </tr>
79 <tr>
80 <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
81 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">VL to SSC-32's VL</font></td>
82 </tr>
83 </tbody></table><table border="1" bordercolor="#000000" width="250">
84 <tbody><tr>
85 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size="2" face="Verdana"><font size="2" face="Verdana">Bot Board </font></font><font size="2" face="Verdana">II </font><font size="2" face="Verdana"><font size="2" face="Verdana">Connections</font></font></td>
86 </tr>
87 <tr>
88 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P0</font></td>
89 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
90 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P8</font></td>
91 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
92 </tr>
93 <tr>
94 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P1</font></td>
95 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
96 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P9</font></td>
97 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Speaker</font></td>
98 </tr>
99 <tr>
100 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P2</font></td>
101 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
102 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P10</font></td>
103 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">SSC-32 RX</font></td>
104 </tr>
105 <tr>
106 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P3</font></td>
107 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
108 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P11</font></td>
109 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">SSC-32 TX</font></td>
110 </tr>
111 <tr>
112 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P4</font></td>
113 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
114 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P12</font></td>
115 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">PS2 Data</font></td>
116 </tr>
117 <tr>
118 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P5</font></td>
119 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
120 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P13</font></td>
121 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">PS2 Command</font></td>
122 </tr>
123 <tr>
124 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P6</font></td>
125 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
126 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P14</font></td>
127 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">PS2 Select</font></td>
128 </tr>
129 <tr>
130 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P7</font></td>
131 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
132 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P15</font></td>
133 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">PS2 Clock</font></td>
134 </tr>
135 </tbody></table>
136 </td>
137 </tr>
138 <tr>
139 <td >
140 <p align="center"><font size="2" face="Verdana">Table 3-1</font></p></td>
141 </tr>
142 </tbody></table>
143 </td>
144 <td width="33%" valign="top"></td>
145 <td width="34%" valign="top">
146 <table border="0" >
147 <tbody><tr>
148 <td >
149 <table border="1" bordercolor="#000000" width="250">
150 <tbody><tr>
151 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="3"><font size="2" face="Verdana">SSC-32
152 Jumpers</font></td>
153 </tr>
154 <tr>
155 <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
156 <td width="200%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">6.0vdc battery to VS</font></td>
157 </tr>
158 <tr>
159 <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
160 <td width="100" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">9.0vdc battery to VL</font></td>
161 </tr>
162 <tr>
163 <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Disconnect</font></td>
164 <td width="100" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">VL = VS1</font></td>
165 </tr>
166 <tr>
167 <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Enable</font></td>
168 <td width="100" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">115.2k baud</font></td>
169 </tr>
170 <tr>
171 <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
172 <td width="100" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">VL to Bot Board's VL</font></td>
173 </tr>
174 </tbody></table><table border="1" bordercolor="#000000" width="250">
175 <tbody><tr>
176 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size="2" face="Verdana">SSC-32
177 Connections</font></td>
178 </tr>
179 <tr>
180 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P0</font></td>
181 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Base Rotate</font></td>
182 <td width="100" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P3</font></td>
183 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Wrist</font></td>
184 </tr>
185 <tr>
186 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P1</font></td>
187 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Shoulder</font></td>
188 <td width="100" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P4</font></td>
189 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper</font></td>
190 </tr>
191 <tr>
192 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P2</font></td>
193 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Elbow</font></td>
194 <td width="100" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P5</font></td>
195 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">W Rotate</font></td>
196 </tr>
197 </tbody></table></td>
198 </tr>
199 <tr>
200 <td >
201 <p align="center"><font size="2" face="Verdana">Table 3-2</font></p></td>
202 </tr>
203 </tbody></table>
204 </td>
205 </tr>
206 </tbody></table>
207 </center>
208 </div>
209 </td>
210 </tr>
211 <tr>
212 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb">
213 </font></td>
214 </tr>
215 <tr>
216 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Schematic</b></font><font face="Verdana, Helvetica, sans-serif"><b><font size="2">.</font></b><br>
217 <font size="2">Double check your connections against the schematic below.</font></font>
218 <p><font face="Verdana" size="2">Note: If your cable's colors do not match
219 the diagram, you can find a complete listing of possible colors <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/bot-board-ii/">here</a>.</font></p>
220 <p align="center"><font face="Verdana, Helvetica, sans-serif"><img border="0" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5-programming-tutorial-ps2-botboard/WebHome/rcarm02.png" width="600" height="696"><br>
221 &nbsp;<br>
222 <font size="2">Schematic.</font></font></p>
223 </td>
224 </tr>
225 <tr>
226 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb">
227 </font></td>
228 </tr>
229 <tr>
230 <td valign="top" align="left"><p><font face="Verdana" size="2"><b>Step 4. SSC-32 and Bot BoardII/Basic Atom Pro 28</b></font>
231 <font face="Verdana"><font size="2">Download and install Basic Micro Studio</font></font><font size="2" face="Verdana">. Download the code for the arm <a href="https://github.com/Lynxmotion/Arms/zipball/master">here</a>. Open the .bas file in Basic Micro Studio and locate the section
232 referencing arm length constants. Remove the semicolons (remarks) from in front of the arm you are using. For example, if you are using an AL5D, the text should look like Table 4. The code is set to default to the AL5D arm. If you use another arm, be sure to add a semicolon before the AL5D line. Be sure that the USE_SSC-32 line is not commented out (as shown in the code snip.)</font></p>
233 <p><font size="2" face="Verdana">When you are finished, save your program and click "Program."</font> <font size="2" face="Verdana, Helvetica, sans-serif">Please consult the <a href="https://community.robotshop.com/forum/t/serial-usb-to-serial-port-troubleshooting/17938" target="_blank">serial
234 troubleshooting guide</a> if you have difficulties with this.</font><font size="2" face="Verdana">&nbsp;</font></p></td>
235 <td align="center" valign="top" >
236 <div align="center">
237 <center>
238 </center><table border="0">
239 <tbody><tr>
240 <td >
241 <div align="center">
242 <center>
243 </center><table border="1" bordercolor="#000000" width="400">
244 <tbody><tr>
245 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Arm Selection in Program</font></td>
246 </tr>
247
248 <tr>
249 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">
250 <p align="left"><font face="Courier New" size="2">;[SETUP]
251 ;disable(0)/enable(1) the FSR Gripper <br>
252 EnableFSR con 0 <br>
253 <br>
254 USE_SSC32 con 1 ;Comment this line to use only the Bot Board <br>
255 <br>
256 ;Select Arm type <br>
257 ;NOTE: Enable only one arm! <br>
258 ;AL5A con 1 <br>
259 ;AL5B con 1 <br>
260 ;AL5C con 1 <br>
261 AL5D con 1</font></p></td>
262 </tr>
263 </tbody></table>
264 </div>
265 </td>
266 </tr>
267 <tr>
268 <td >
269 <p align="center"><font size="2" face="Verdana">Table 4</font></p>
270 </td>
271 </tr>
272 </tbody></table>
273
274 </div>
275 </td>
276 </tr>
277 <tr>
278 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;
279 </font></td>
280 </tr>
281 <tr>
282 <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step 5. SSC-32 and Bot BoardII/Basic Atom Pro 28</font></b><br>
283 </font><font size="2" face="Verdana">Consult Table 5 for information on controlling the arm.</font></td>
284 <td align="center" valign="top"><div align="center">
285 <center>
286 <table border="0">
287 <tbody><tr>
288 <td ><div align="center">
289 <table border="1" bordercolor="#000000" width="400">
290 <tbody><tr>
291 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size="2" face="Verdana">PS2 Controls</font></td>
292 </tr>
293 <tr>
294 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy U</font></td>
295 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Up</font></td>
296 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy U</font></td>
297 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Angle Up</font></td>
298 </tr>
299 <tr>
300 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy D</font></td>
301 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Down</font></td>
302 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy D</font></td>
303 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Angle Down</font></td>
304 </tr>
305 <tr>
306 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy L</font></td>
307 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Back</font></td>
308 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy L</font></td>
309 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Base Rotate Left</font></td>
310 </tr>
311 <tr>
312 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy R</font></td>
313 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Away</font></td>
314 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy R</font></td>
315 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Base Rotate Right</font></td>
316 </tr>
317 <tr>
318 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L1</font></td>
319 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Close</font></td>
320 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R1</font></td>
321 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Wrist Rotate CW</font></td>
322 </tr>
323 <tr>
324 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L2</font></td>
325 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Open</font></td>
326 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R2</font></td>
327 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Wrist Rotate CCW</font></td>
328 </tr>
329 <tr>
330 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L3</font></td>
331 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
332 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R3</font></td>
333 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
334 </tr>
335 <tr>
336 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">D-Pad U</font></td>
337 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
338 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Tri</font></td>
339 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Center Wrist Rotate</font></td>
340 </tr>
341 <tr>
342 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">D-Pad D</font></td>
343 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
344 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">X</font></td>
345 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Fully Open Gripper</font></td>
346 </tr>
347 <tr>
348 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">D-Pad L</font></td>
349 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
350 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Squ</font></td>
351 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
352 </tr>
353 <tr>
354 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">D-Pad R</font></td>
355 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
356 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">O</font></td>
357 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
358 </tr>
359 <tr>
360 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Start</font></td>
361 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Enable/Disable Arm</font></td>
362 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Select</font></td>
363 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
364 </tr>
365 </tbody></table>
366 </div></td>
367 </tr>
368 <tr>
369 <td ><p align="center"><font size="2" face="Verdana">Table 5</font></p></td>
370 </tr>
371 </tbody></table>
372 </center>
373 </div></td>
374 </tr>
375 <tr>
376 <td valign="top" align="left" colspan="2"><hr><a name="bb2"></a>
377 </td>
378 </tr>
379 <tr>
380 <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step 1. Bot Board II/Basic Atom Pro 28</font></b><br>
381 </font><font size="2" face="Verdana">Install the Bot Board as shown in Figure 1. Wire the Bot Board II and SSC-32 as shown in the schematic and table below. Make sure the jumpers are all correct.
382 </font></td>
383 <td align="center" valign="top"><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5-programming-tutorial-ps2-botboard/WebHome/bbiiarm.jpg" alt="" width="320" height="240" hspace="10" border="2"><br>
384 Figure 1.</font></td>
385 </tr>
386
387 <tr>
388 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">
389
390 </font></td>
391 </tr>
392 <tr>
393 <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step 2</font><font face="Verdana"><b><font size="2">. Bot Board II/Basic Atom Pro 28</font></b></font></b><br>
394 <font size="2">Configure the Bot Board as illustrated in Table 2. </font></font></td>
395 <td align="center" valign="top"><table border="1" bordercolor="#000000" width="250">
396 <tbody><tr>
397 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="3"><font size="2" face="Verdana">Bot Board II
398 Jumpers</font></td>
399 </tr>
400 <tr>
401 <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
402 <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">6.0vdc battery to VS</font></td>
403 </tr>
404 <tr>
405 <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
406 <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">9.0vdc battery to VL</font></td>
407 </tr>
408 <tr>
409 <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Enable</font></td>
410 <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Speaker</font></td>
411 </tr>
412 <tr>
413 <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
414 <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">I/O 0-3 Power Bus to VS</font></td>
415 </tr>
416 <tr>
417 <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
418 <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">I/O 4-7 Power Bus to VS</font></td>
419 </tr>
420 <tr>
421 <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
422 <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">I/O 12-15 Power Bus to 5V</font></td>
423 </tr>
424 </tbody></table><table border="1" bordercolor="#000000" width="250">
425 <tbody><tr>
426 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size="2" face="Verdana"><font size="2" face="Verdana">Bot Board </font></font><font size="2" face="Verdana">II </font><font size="2" face="Verdana"><font size="2" face="Verdana">Connections</font></font></td>
427 </tr>
428 <tr>
429 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P0</font></td>
430 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Base</font></td>
431 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P8</font></td>
432 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
433 </tr>
434 <tr>
435 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P1</font></td>
436 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Shoulder</font></td>
437 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P9</font></td>
438 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Speaker</font></td>
439 </tr>
440 <tr>
441 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P2</font></td>
442 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Elbow</font></td>
443 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P10</font></td>
444 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
445 </tr>
446 <tr>
447 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P3</font></td>
448 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Wrist</font></td>
449 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P11</font></td>
450 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
451 </tr>
452 <tr>
453 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P4</font></td>
454 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper</font></td>
455 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P12</font></td>
456 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">PS2 Data</font></td>
457 </tr>
458 <tr>
459 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P5</font></td>
460 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Wrist Rotate</font></td>
461 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P13</font></td>
462 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">PS2 Command</font></td>
463 </tr>
464 <tr>
465 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P6</font></td>
466 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
467 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P14</font></td>
468 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">PS2 Select</font></td>
469 </tr>
470 <tr>
471 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P7</font></td>
472 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
473 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P15</font></td>
474 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">PS2 Clock</font></td>
475 </tr>
476 </tbody></table>
477 <font size="2" face="Verdana">Table 2.</font></td>
478 </tr>
479 <tr>
480 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb">
481 </font></td>
482 </tr>
483 <tr>
484 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Schematic</b></font><font face="Verdana, Helvetica, sans-serif"><b><font size="2">.</font></b><br>
485 <font size="2">Double check your connections against the schematic below.</font></font>
486 <p><font face="Verdana" size="2">Note: If your cable's colors do not match
487 the diagram, you can find a complete listing of possible colors <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/bot-board-ii/">here</a>.</font></p>
488 <p 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-arms/al5-programming-tutorial-ps2-botboard/WebHome/rcarm03.png" alt="" width="600" height="645" border="0"><br>
489 <font size="2">Schematic.</font></font></p></td>
490 </tr>
491 <tr>
492 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb">
493 </font></td>
494 </tr>
495 <tr>
496 <td valign="top" align="left"><p><font face="Verdana"><b><font size="2">Step 3<font face="Verdana"><b>. Bot Board II/Basic Atom Pro 28</b></font></font></b><br>
497 <font size="2">Download and install Basic Micro Studio</font></font><font size="2" face="Verdana">. Download the code for the arm <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/WebHome/ps2arm2.zip">here</a>. Open the .bas file in Basic Micro Studio and locate the section
498 referencing arm length constants. Remove the semicolons (remarks) from in front of the arm you are using. For example, if you are using an AL5D, the text should look like Table 3. The code is set to default to the AL5D arm. If you use another arm, be sure to add a semicolon before the AL5D line. Be sure that the USE_SSC-32 line is commented out (as shown in the code snip.)</font></p>
499 <p><font size="2" face="Verdana">When you are finished, save your program and click "Program."</font> <font size="2" face="Verdana, Helvetica, sans-serif">Please consult the <a href="https://community.robotshop.com/forum/t/serial-usb-to-serial-port-troubleshooting/17938" target="_blank">serial
500 troubleshooting guide</a> if you have difficulties with this.</font><font size="2" face="Verdana">&nbsp;</font></p></td>
501 <td align="center" valign="top"><div align="center">
502 <center>
503 </center><table border="0">
504 <tbody><tr>
505 <td ><div align="center">
506 <center>
507 </center><table border="1" bordercolor="#000000" width="400">
508 <tbody><tr>
509 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Arm Selection in Program</font></td>
510 </tr>
511
512 <tr>
513 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><p align="left"><font face="Courier New" size="2">;[SETUP]
514 ;disable(0)/enable(1) the FSR Gripper <br>
515 EnableFSR con 0 <br>
516 <br>
517 ;USE_SSC32 con 1 ;Comment this line to use only the Bot Board <br>
518 <br>
519 ;Select Arm type <br>
520 ;NOTE: Enable only one arm! <br>
521 ;AL5A con 1 <br>
522 ;AL5B con 1 <br>
523 ;AL5C con 1 <br>
524 AL5D con 1</font></p></td>
525 </tr>
526 </tbody></table>
527 </div></td>
528 </tr>
529 <tr>
530 <td ><p align="center"><font size="2" face="Verdana">Table 3</font></p></td>
531 </tr>
532
533 </tbody></table>
534
535 </div></td>
536 </tr>
537 <tr>
538 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
539 </tr>
540 <tr>
541 <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step 4<font face="Verdana"><b>. Bot Board II/Basic Atom Pro 28</b></font></font></b><br>
542 </font><font size="2" face="Verdana">Consult Table 4 for information on controlling the arm.</font></td>
543 <td align="center" valign="top"><div align="center">
544 <center>
545 <table border="0">
546 <tbody><tr>
547 <td ><div align="center">
548 <table border="1" bordercolor="#000000" width="400">
549 <tbody><tr>
550 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size="2" face="Verdana">PS2 Controls</font></td>
551 </tr>
552 <tr>
553 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy U</font></td>
554 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Up</font></td>
555 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy U</font></td>
556 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Angle Up</font></td>
557 </tr>
558 <tr>
559 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy D</font></td>
560 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Down</font></td>
561 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy D</font></td>
562 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Angle Down</font></td>
563 </tr>
564 <tr>
565 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy L</font></td>
566 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Back</font></td>
567 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy L</font></td>
568 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Base Rotate Left</font></td>
569 </tr>
570 <tr>
571 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy R</font></td>
572 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Away</font></td>
573 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy R</font></td>
574 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Base Rotate Right</font></td>
575 </tr>
576 <tr>
577 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L1</font></td>
578 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Close</font></td>
579 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R1</font></td>
580 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Wrist Rotate CW</font></td>
581 </tr>
582 <tr>
583 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L2</font></td>
584 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Open</font></td>
585 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R2</font></td>
586 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Wrist Rotate CCW</font></td>
587 </tr>
588 <tr>
589 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L3</font></td>
590 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
591 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R3</font></td>
592 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
593 </tr>
594 <tr>
595 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">D-Pad U</font></td>
596 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
597 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Tri</font></td>
598 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Center Wrist Rotate</font></td>
599 </tr>
600 <tr>
601 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">D-Pad D</font></td>
602 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
603 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">X</font></td>
604 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Fully Open Gripper</font></td>
605 </tr>
606 <tr>
607 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">D-Pad L</font></td>
608 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
609 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Squ</font></td>
610 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
611 </tr>
612 <tr>
613 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">D-Pad R</font></td>
614 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
615 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">O</font></td>
616 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
617 </tr>
618 <tr>
619 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Start</font></td>
620 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Enable/Disable Arm</font></td>
621 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Select</font></td>
622 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
623 </tr>
624 </tbody></table>
625 </div></td>
626 </tr>
627 <tr>
628 <td ><p align="center"><font size="2" face="Verdana">Table 4</font></p></td>
629 </tr>
630 </tbody></table>
631 </center>
632 </div></td>
633 </tr>
634 </tbody></table>
635 </body>
636 {{/html}}

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