Last modified by Eric Nantel on 2023/01/20 15:28
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Eric Nantel 8.1 2 <body><table border="0" cellpadding="0" cellspacing="0" >
3 <tbody><tr>
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
Eric Nantel 16.1 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>
Eric Nantel 8.1 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>
Eric Nantel 17.1 15 <li><font size="2" face="Verdana, Helvetica, sans-serif">Any of our AL5 arms</font></li>
Eric Nantel 12.1 16 <li><font size="2" face="Verdana, Helvetica, sans-serif">Bot Board II with Basic Atom Pro 28</font></li>
Eric Nantel 17.1 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>
Eric Nantel 12.1 19 <li><font size="2" face="Verdana, Helvetica, sans-serif">6" Servo Extender Cable</font></li></ul></td>
Eric Nantel 14.1 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>
Eric Nantel 8.1 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>
Eric Nantel 14.1 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>
Eric Nantel 8.1 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>
Eric Nantel 14.1 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>
Eric Nantel 8.1 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>
Eric Nantel 21.1 64 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="3"><font size="2" face="Verdana">Bot Board II
Eric Nantel 8.1 65 Jumpers</font></td>
66 </tr>
67 <tr>
Eric Nantel 21.1 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>
Eric Nantel 8.1 70 </tr>
71 <tr>
Eric Nantel 21.1 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>
Eric Nantel 8.1 74 </tr>
75 <tr>
Eric Nantel 21.1 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>
Eric Nantel 8.1 78 </tr>
79 <tr>
Eric Nantel 21.1 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>
Eric Nantel 8.1 82 </tr>
83 </tbody></table><table border="1" bordercolor="#000000" width="250">
84 <tbody><tr>
Eric Nantel 21.1 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>
Eric Nantel 8.1 86 </tr>
87 <tr>
Eric Nantel 21.1 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>
Eric Nantel 8.1 92 </tr>
93 <tr>
Eric Nantel 21.1 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>
Eric Nantel 8.1 98 </tr>
99 <tr>
Eric Nantel 21.1 100 <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>
Eric Nantel 8.1 104 </tr>
105 <tr>
Eric Nantel 21.1 106 <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>
Eric Nantel 8.1 110 </tr>
111 <tr>
Eric Nantel 21.1 112 <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>
Eric Nantel 8.1 116 </tr>
117 <tr>
Eric Nantel 21.1 118 <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>
Eric Nantel 8.1 122 </tr>
123 <tr>
Eric Nantel 21.1 124 <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>
Eric Nantel 8.1 128 </tr>
129 <tr>
Eric Nantel 21.1 130 <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>
Eric Nantel 8.1 134 </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>
Eric Nantel 21.1 151 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="3"><font size="2" face="Verdana">SSC-32
Eric Nantel 8.1 152 Jumpers</font></td>
153 </tr>
154 <tr>
Eric Nantel 21.1 155 <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>
Eric Nantel 8.1 157 </tr>
158 <tr>
Eric Nantel 21.1 159 <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>
Eric Nantel 8.1 161 </tr>
162 <tr>
Eric Nantel 21.1 163 <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>
Eric Nantel 8.1 165 </tr>
166 <tr>
Eric Nantel 21.1 167 <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>
Eric Nantel 8.1 169 </tr>
170 <tr>
Eric Nantel 21.1 171 <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>
Eric Nantel 8.1 173 </tr>
174 </tbody></table><table border="1" bordercolor="#000000" width="250">
175 <tbody><tr>
Eric Nantel 21.1 176 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size="2" face="Verdana">SSC-32
Eric Nantel 8.1 177 Connections</font></td>
178 </tr>
179 <tr>
Eric Nantel 21.1 180 <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>
Eric Nantel 8.1 184 </tr>
185 <tr>
Eric Nantel 21.1 186 <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>
Eric Nantel 8.1 190 </tr>
191 <tr>
Eric Nantel 21.1 192 <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>
Eric Nantel 8.1 196 </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
Eric Nantel 22.1 219 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>
Eric Nantel 15.1 220 <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>
Eric Nantel 8.1 221 &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>
Eric Nantel 17.1 231 <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
Eric Nantel 8.1 232 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>
Eric Nantel 17.1 233 <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
Eric Nantel 8.1 234 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>
Eric Nantel 21.1 245 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Arm Selection in Program</font></td>
Eric Nantel 8.1 246 </tr>
247
248 <tr>
249 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">
Eric Nantel 21.1 250 <p align="left"><font face="Courier New" size="2">;[SETUP]
Eric Nantel 8.1 251 ;disable(0)/enable(1) the FSR Gripper <br>
252 EnableFSR con 0 <br>
253 <br>
Eric Nantel 19.1 254 USE_SSC32 con 1 ;Comment this line to use only the Bot Board <br>
Eric Nantel 8.1 255 <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>
Eric Nantel 21.1 291 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size="2" face="Verdana">PS2 Controls</font></td>
Eric Nantel 8.1 292 </tr>
293 <tr>
Eric Nantel 21.1 294 <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>
Eric Nantel 8.1 298 </tr>
299 <tr>
Eric Nantel 21.1 300 <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>
Eric Nantel 8.1 304 </tr>
305 <tr>
Eric Nantel 21.1 306 <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>
Eric Nantel 8.1 310 </tr>
311 <tr>
Eric Nantel 21.1 312 <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>
Eric Nantel 8.1 316 </tr>
317 <tr>
Eric Nantel 21.1 318 <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>
Eric Nantel 8.1 322 </tr>
323 <tr>
Eric Nantel 21.1 324 <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>
Eric Nantel 8.1 328 </tr>
329 <tr>
Eric Nantel 21.1 330 <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>
Eric Nantel 8.1 334 </tr>
335 <tr>
Eric Nantel 21.1 336 <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>
Eric Nantel 8.1 340 </tr>
341 <tr>
Eric Nantel 21.1 342 <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>
Eric Nantel 8.1 346 </tr>
347 <tr>
Eric Nantel 21.1 348 <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>
Eric Nantel 8.1 352 </tr>
353 <tr>
Eric Nantel 21.1 354 <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>
Eric Nantel 8.1 358 </tr>
359 <tr>
Eric Nantel 21.1 360 <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>
Eric Nantel 8.1 364 </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>
Eric Nantel 15.1 383 <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>
Eric Nantel 8.1 384 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>
Eric Nantel 21.1 397 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="3"><font size="2" face="Verdana">Bot Board II
Eric Nantel 8.1 398 Jumpers</font></td>
399 </tr>
400 <tr>
Eric Nantel 21.1 401 <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>
Eric Nantel 8.1 403 </tr>
404 <tr>
Eric Nantel 21.1 405 <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>
Eric Nantel 8.1 407 </tr>
408 <tr>
Eric Nantel 21.1 409 <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>
Eric Nantel 8.1 411 </tr>
412 <tr>
Eric Nantel 21.1 413 <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>
Eric Nantel 8.1 415 </tr>
416 <tr>
Eric Nantel 21.1 417 <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>
Eric Nantel 8.1 419 </tr>
420 <tr>
Eric Nantel 21.1 421 <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>
Eric Nantel 8.1 423 </tr>
424 </tbody></table><table border="1" bordercolor="#000000" width="250">
425 <tbody><tr>
Eric Nantel 21.1 426 <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>
Eric Nantel 8.1 427 </tr>
428 <tr>
Eric Nantel 21.1 429 <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>
Eric Nantel 8.1 433 </tr>
434 <tr>
Eric Nantel 21.1 435 <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>
Eric Nantel 8.1 439 </tr>
440 <tr>
Eric Nantel 21.1 441 <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>
Eric Nantel 8.1 445 </tr>
446 <tr>
Eric Nantel 21.1 447 <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>
Eric Nantel 8.1 451 </tr>
452 <tr>
Eric Nantel 21.1 453 <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>
Eric Nantel 8.1 457 </tr>
458 <tr>
Eric Nantel 21.1 459 <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>
Eric Nantel 8.1 463 </tr>
464 <tr>
Eric Nantel 21.1 465 <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>
Eric Nantel 8.1 469 </tr>
470 <tr>
Eric Nantel 21.1 471 <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>
Eric Nantel 8.1 475 </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
Eric Nantel 22.1 487 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>
Eric Nantel 15.1 488 <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>
Eric Nantel 8.1 489 <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>
Eric Nantel 20.1 497 <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
Eric Nantel 8.1 498 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>
Eric Nantel 17.1 499 <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
Eric Nantel 8.1 500 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>
Eric Nantel 21.1 509 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Arm Selection in Program</font></td>
Eric Nantel 8.1 510 </tr>
511
512 <tr>
Eric Nantel 21.1 513 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><p align="left"><font face="Courier New" size="2">;[SETUP]
Eric Nantel 8.1 514 ;disable(0)/enable(1) the FSR Gripper <br>
Eric Nantel 19.1 515 EnableFSR con 0 <br>
Eric Nantel 8.1 516 <br>
Eric Nantel 19.1 517 ;USE_SSC32 con 1 ;Comment this line to use only the Bot Board <br>
Eric Nantel 8.1 518 <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>
Eric Nantel 21.1 550 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size="2" face="Verdana">PS2 Controls</font></td>
Eric Nantel 8.1 551 </tr>
552 <tr>
Eric Nantel 21.1 553 <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>
Eric Nantel 8.1 557 </tr>
558 <tr>
Eric Nantel 21.1 559 <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>
Eric Nantel 8.1 563 </tr>
564 <tr>
Eric Nantel 21.1 565 <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>
Eric Nantel 8.1 569 </tr>
570 <tr>
Eric Nantel 21.1 571 <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>
Eric Nantel 8.1 575 </tr>
576 <tr>
Eric Nantel 21.1 577 <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>
Eric Nantel 8.1 581 </tr>
582 <tr>
Eric Nantel 21.1 583 <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>
Eric Nantel 8.1 587 </tr>
588 <tr>
Eric Nantel 21.1 589 <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>
Eric Nantel 8.1 593 </tr>
594 <tr>
Eric Nantel 21.1 595 <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>
Eric Nantel 8.1 599 </tr>
600 <tr>
Eric Nantel 21.1 601 <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>
Eric Nantel 8.1 605 </tr>
606 <tr>
Eric Nantel 21.1 607 <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>
Eric Nantel 8.1 611 </tr>
612 <tr>
Eric Nantel 21.1 613 <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>
Eric Nantel 8.1 617 </tr>
618 <tr>
Eric Nantel 21.1 619 <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>
Eric Nantel 8.1 623 </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>
Eric Nantel 1.1 636 {{/html}}

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