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1 1  {{html wiki="false" clean="true"}}
2 +<table style="width: 100%;" border="0" cellpadding="0" cellspacing="0">
3 + <tbody>
4 + <tr>
5 + <td style="vertical-align: top; text-align: left; width: 100%;"><b><font face="Verdana" size="2">AL5B Arm Assembly Instructions Rev. 2.1.</font></b>
6 + <p><b><font face="Verdana" size="2">Updated Dec 2014<br>
7 + </font></b></p>
8 + <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye
9 +protection and never touch a powered robot!</font></p>
10 + <p><font face="Verdana" size="2"><strong><span style="font-weight: normal;">This guide shows how to assemble the AL5B arm
11 +with either
12 +the SSC-32 or the SSC-32U servo controller. Take note of which version you have
13 +and follow each step accordingly, as the connections and configuration
14 +are different. Calibration of the arm is done using one of the
15 +following software:</span></strong></font></p>
16 + <ul>
17 + <li><font face="Verdana" size="2"><span style="font-weight: normal;">SSC-32 Servo Sequencer Utility</span></font><br>
18 + <font face="Verdana" size="2"><strong><span style="font-weight: normal;"></span></strong></font></li>
19 + <li><font face="Verdana" size="2"><span style="font-weight: normal;">RIOS (purchased separately or as part of
20 +a kit)</span></font></li>
21 + <li><font face="Verdana" size="2"><strong><span style="font-weight: normal;">Lynxterm (Legacy software)</span></strong></font></li>
22 + </ul>
23 + <p><font face="Verdana" size="2">Note: Loctite / thread lock
24 +can be used on the construction of the aluminum components, though it
25 +is not necessary if the nuts are properly tightened. However,
26 +don't use them with Lexan or plastic, as they are not necessary and may
27 +cause
28 +damage.</font></p>
29 + </td>
30 + <td align="center" valign="top" width="320"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/al5b12.jpg" border="2" height="240" hspace="10" width="320"><br>
31 + <b>Image of complete arm (SSC-32 Shown).</b></font></td>
32 + </tr>
33 + <tr>
34 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
35 + </tr>
36 + <tr>
37 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Lexan Preparation.<br>
38 + </b>The lexan pieces have a protective covering that needs to be
39 +removed before assembly. When the laser cuts, the covering melts into
40 +the cut edge which can make removal difficult. If you gently scrape the
41 +cut edge with a flat blade screwdriver, the covering can easily be
42 +lifted and peeled off.</font>
43 + <p><font face="Verdana" size="2">On smaller pieces the coverings
44 +can be more difficult to remove. If you have trouble you can gently
45 +scrape the cut edge, then use duct tape to lift the covering off.</font></p>
46 + <p><font face="Verdana" size="2">For further information on
47 +lexan, see <a href="http://www.lynxmotion.com/images/html/infolexa.htm" target="_blank">this
48 +page</a>.</font></p>
49 + </td>
50 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/lexan01.jpg" border="2" height="240" hspace="10" width="320"><br>
51 +Lexan Preparation.</font></td>
52 + </tr>
53 + <tr>
54 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
55 + </tr>
56 + <tr>
57 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 1.</b><br>
58 +Connect the "C" bracket to the large "C" bracket as shown. Use two 2-56
59 +x 1/4" screws and 2-56 nuts.<br>
60 + <font face="Verdana, Helvetica, sans-serif" size="2">&nbsp;</font>
61 + <table border="0" width="100%">
62 + <tbody>
63 + <tr>
64 + <td width="50%"><font face="Verdana" size="2"><b>2 x&nbsp;</b></font></td>
65 + <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
66 + </tr>
67 + <tr>
68 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/256025ph.gif" border="2" height="96" width="160"></font></td>
69 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/256zpn.gif" border="2" height="96" width="160"></font></td>
70 + </tr>
71 + </tbody>
72 + </table>
73 + </font></td>
74 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/al5b01.jpg" border="2" height="240" hspace="10" width="320"><br>
75 +Figure 1.</font></td>
76 + </tr>
77 + <tr>
78 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
79 + </td>
80 + </tr>
81 + <tr>
82 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 2.<br>
83 + </b></font><font face="Verdana" size="2">Install the mechanical
84 +dampening panels as shown. Use four 2-56 x 1/4 inch machine screws. Be sure to add the discs to the correct side and </font><font face="Verdana" size="2">ensure the protective covering has been removed from the Lexan parts.</font><font face="Verdana" size="2">
85 +Press down when screwing to ensure there is no gap between the Lexan
86 +and the aluminum, as the screw will be threading the Lexan. </font><br>
87 + <p align="center"><font face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/arm02.GIF" border="2" height="96" width="320"></font></p>
88 + </td>
89 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/al5b02.jpg" border="2" height="240" hspace="10" width="320"><br>
90 +Figure 2.</font></td>
91 + </tr>
92 + <tr>
93 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
94 + </tr>
95 + <tr>
96 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 3.<br>
97 + </b>Insert the 4-40 x .5" Phillips head screw through the hole in
98 +the multi-purpose bracket as shown. Secure with a steel nut.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
99 +&nbsp;</font>
100 + <table border="0" width="100%">
101 + <tbody>
102 + <tr>
103 + <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
104 + <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
105 + </tr>
106 + <tr>
107 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/500phs.gif" border="2" height="96" width="160"></font></td>
108 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/440zpn.GIF" border="2" height="96" width="160"></font></td>
109 + </tr>
110 + </tbody>
111 + </table>
112 + </td>
113 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/al5a03.jpg" border="2" height="240" hspace="10" width="320"><br>
114 +Figure 3.</font></td>
115 + </tr>
116 + <tr>
117 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
118 + </tr>
119 + <tr>
120 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 4.<br>
121 + </b>Slide the large "C" bracket end of the bracket assembly over
122 +the screw as shown, and secure with a nylon insert lock nut. The amount
123 +of friction can be adjusted by tightening or loosening the lock nut.
124 +Start with the nut loose, and if the arm seems to wobble a bit, you can
125 +tighten this joint to correct the wobble. <b><font color="#ff0000">Caution
126 +- don't over-tighten this! If the arm is operated with the mechanical
127 +dampeners too tight, the servo WILL heat up and CAN be damaged!</font></b></font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
128 +&nbsp;</font>
129 + <table border="0" width="100%">
130 + <tbody>
131 + <tr>
132 + <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
133 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
134 + </tr>
135 + <tr>
136 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/440niln.gif" border="2" height="96" width="160"></font></td>
137 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
138 + </tr>
139 + </tbody>
140 + </table>
141 + </td>
142 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/al5a04.jpg" border="2" height="240" hspace="10" width="320"><br>
143 +Figure 4.</font></td>
144 + </tr>
145 + <tr>
146 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
147 + </td>
148 + </tr>
149 + <tr>
150 + <td valign="top" width="50%"><font face="Verdana" size="2"><b>Step
151 +5.<br>
152 + </b>Figure 5 show a typical mega-size servo with its default
153 +servo horn at center position. You will need to replace this black
154 +servo horn with the round nylon servo horn.</font>
155 + <p><font face="Verdana" size="2">Remove the servo horn screw,
156 +being careful to not rotate the servo horn itself. Pull the servo horn
157 +off, then press the nylon servo horn in place, as close to the
158 +alignment shown as possible. Replace the servo horn screw.</font></p>
159 + <p><font face="Verdana" size="2">Make sure your servo looks like
160 +the image. The arrows in the image point to the screw holes you will
161 +use.</font></p>
162 + </td>
163 + <td align="center" valign="bottom" width="50%"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/mservo01.jpg" border="2" height="240" hspace="10" width="320"><br>
164 + <font face="Verdana" size="2">Figure 5.</font></td>
165 + </tr>
166 + <tr>
167 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
168 + </tr>
169 + <tr>
170 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 6.<br>
171 + </b>Attach the HS-755HB servo to the base bracket as shown using
172 +the 3mm hardware; follow the diagram below. Use two #2 x 1/4" tapping
173 +screws to secure the bracket to the servo horn. Route the shoulder
174 +servo wires underneath the servo. Plug the servo into channel 1 on the
175 +SSC-32. Carefully rotate the base to an extreme, and use a wire tie to
176 +take up the slack in the servo cable.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
177 +&nbsp;</font>
178 + <table border="0" width="100%">
179 + <tbody>
180 + <tr>
181 + <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
182 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
183 + </tr>
184 + <tr>
185 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/2250phts.gif" border="2" height="96" width="160"></font></td>
186 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/holes.gif" border="2" height="96" width="160"></font></td>
187 + </tr>
188 + <tr>
189 + <td colspan="2" width="100%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
190 + </tr>
191 + <tr>
192 + <td colspan="2" width="100%">
193 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/brack02.gif" border="2" height="96" width="320"></font></p>
194 + </td>
195 + </tr>
196 + </tbody>
197 + </table>
198 + </td>
199 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/al5a21.jpg" border="2" height="240" hspace="10" width="320"><br>
200 +Figure 6.</font></td>
201 + </tr>
202 + <tr>
203 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
204 + </td>
205 + </tr>
206 + <tr>
207 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 7.<br>
208 + </b>Attach two of the tubing connector hubs to the short side of
209 +the "L" brackets, using four 2-56 x .250 screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
210 +&nbsp;</font>
211 + <table border="0" width="100%">
212 + <tbody>
213 + <tr>
214 + <td width="50%"><font face="Verdana" size="2"><b>4 x (two
215 +each)<br>
216 + </b></font></td>
217 + <td width="50%"><font face="Verdana" size="2"><b>4 x (two
218 +each)<br>
219 + </b></font></td>
220 + </tr>
221 + <tr>
222 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/256025ph.gif" border="2" height="96" width="160"></font></td>
223 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/256zpn.gif" border="2" height="96" width="160"></font></td>
224 + </tr>
225 + </tbody>
226 + </table>
227 + </td>
228 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/al5a05.jpg" border="2" height="240" hspace="10" width="320"><br>
229 +Figure 7.</font></td>
230 + </tr>
231 + <tr>
232 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
233 + </tr>
234 + <tr>
235 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 8.<br>
236 + </b>Connect the hubs to the 2.25" tube using two 4-40 x .250"
237 +screws. Tighten these down tightly.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
238 +&nbsp;</font>
239 + <table border="0" width="100%">
240 + <tbody>
241 + <tr>
242 + <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
243 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
244 + </tr>
245 + <tr>
246 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/4250hscs.GIF" border="2" height="96" width="160"></font></td>
247 + <td width="50%"><font face="Verdana" size="2">&nbsp;</font></td>
248 + </tr>
249 + </tbody>
250 + </table>
251 + </td>
252 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/al5b03.jpg" border="2" height="240" hspace="10" width="320"><br>
253 +Figure 8.</font></td>
254 + </tr>
255 + <tr>
256 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
257 + </tr>
258 + <tr>
259 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 9.<br>
260 + </b>Attach the tubing structure to two Multi-Purpose brackets as
261 +shown, using four 2-56 x .250 screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
262 +&nbsp;</font>
263 + <table border="0" width="100%">
264 + <tbody>
265 + <tr>
266 + <td width="50%"><font face="Verdana" size="2"><b>4 x (two
267 +each)<br>
268 + </b></font></td>
269 + <td width="50%"><font face="Verdana" size="2"><b>4 x (two
270 +each)<br>
271 + </b></font></td>
272 + </tr>
273 + <tr>
274 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/256025ph.gif" border="2" height="96" width="160"></font></td>
275 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/256zpn.gif" border="2" height="96" width="160"></font></td>
276 + </tr>
277 + </tbody>
278 + </table>
279 + </td>
280 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/al5b04.jpg" border="2" height="240" hspace="10" width="320"><br>
281 +Figure 9.</font></td>
282 + </tr>
283 + <tr>
284 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
285 + </td>
286 + </tr>
287 + <tr>
288 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 10.</b><br>
289 +Insert the 4-40 x .5" Phillips head screw through the hole in the
290 +multi-purpose bracket as shown. Secure with a steel nut.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
291 +&nbsp;</font>
292 + <table border="0" width="100%">
293 + <tbody>
294 + <tr>
295 + <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
296 + <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
297 + </tr>
298 + <tr>
299 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/440zpn.GIF" border="2" height="96" width="160"></font></td>
300 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/500phs.gif" border="2" height="96" width="160"></font></td>
301 + </tr>
302 + </tbody>
303 + </table>
304 + </td>
305 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/al5a08.jpg" border="2" height="240" hspace="10" width="320"><br>
306 +Figure 10.</font></td>
307 + </tr>
308 + <tr>
309 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
310 + </tr>
311 + <tr>
312 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 11.<br>
313 + </b>Slide the screw on the forearm assembly through the dampening
314 +discs as shown, and secure with a nylon insert lock nut. The amount of
315 +friction can be adjusted by tightening or loosening the lock nut. Start
316 +with the nut loose, and if the arm seems to wobble a bit, you can
317 +tighten this joint to correct the wobble. <b><font color="#ff0000">Caution
318 +- don't over-tighten this! If the arm is operated with the mechanical
319 +dampeners too tight, the servo WILL heat up and CAN be damaged!</font></b></font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
320 +&nbsp;</font>
321 + <table border="0" width="100%">
322 + <tbody>
323 + <tr>
324 + <td width="50%"><font face="Verdana" size="2"><b>1 x</b></font></td>
325 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
326 + </tr>
327 + <tr>
328 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/440niln.gif" border="2" height="96" width="160"></font></td>
329 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
330 + </tr>
331 + </tbody>
332 + </table>
333 + </td>
334 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/al5b05.jpg" border="2" height="240" hspace="10" width="320"><br>
335 +Figure 11.</font></td>
336 + </tr>
337 + <tr>
338 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
339 + </tr>
340 + <tr>
341 + <td valign="top" width="50%"><font face="Verdana" size="2"><b>Step
342 +12.<br>
343 + </b>Figure 12 illustrates a typical standard-size servo with its
344 +output horn (the round white part) at center position. Make sure your
345 +servo looks like the image. The arrows in the image point to the screw
346 +holes you will use.</font></td>
347 + <td align="center" valign="bottom" width="50%"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/servo02.jpg" border="2" height="240" hspace="10" width="320"><br>
348 + <font face="Verdana" size="2">Figure 12.</font></td>
349 + </tr>
350 + <tr>
351 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
352 + </td>
353 + </tr>
354 + <tr>
355 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 13.</b><br>
356 +Attach the HS-645MG elbow servo to the bracket as shown using the 3mm
357 +hardware; follow the diagram below. Use two #2 x 1/4" tapping screws to
358 +secure the bracket to the servo horn. Route the shoulder servo wires
359 +over the servo. Plug the servo into channel 2 on the SSC-32.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
360 +&nbsp;</font>
361 + <table border="0" width="100%">
362 + <tbody>
363 + <tr>
364 + <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
365 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
366 + </tr>
367 + <tr>
368 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/2250phts.gif" border="2" height="96" width="160"></font></td>
369 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/holes.gif" border="2" height="96" width="160"></font></td>
370 + </tr>
371 + <tr>
372 + <td colspan="2" width="100%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
373 + </tr>
374 + <tr>
375 + <td colspan="2" width="100%">
376 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/brack02.gif" border="2" height="96" width="320"></font></p>
377 + </td>
378 + </tr>
379 + </tbody>
380 + </table>
381 + </td>
382 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/al5b06.jpg" border="2" height="240" hspace="10" width="320"><br>
383 +Figure 13.</font></td>
384 + </tr>
385 + <tr>
386 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
387 + </tr>
388 + <tr>
389 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 14.<br>
390 + </b>Attach the Little Gripper connector to the short "C" bracket
391 +using two 2-56 x .250" screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
392 +&nbsp;</font>
393 + <table border="0" width="100%">
394 + <tbody>
395 + <tr>
396 + <td width="50%"><font face="Verdana" size="2"><b>2 x&nbsp;</b></font></td>
397 + <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
398 + </tr>
399 + <tr>
400 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/256025ph.gif" border="2" height="96" width="160"></font></td>
401 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/256zpn.gif" border="2" height="96" width="160"></font></td>
402 + </tr>
403 + </tbody>
404 + </table>
405 + </td>
406 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/al5a11.jpg" border="2" height="240" hspace="10" width="320"><br>
407 +Figure 14.</font></td>
408 + </tr>
409 + <tr>
410 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
411 + </td>
412 + </tr>
413 + <tr>
414 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 15.<br>
415 + </b>Attach the short "C" bracket to the other Multi-purpose
416 +bracket as shown.</font>
417 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/ballb02b.gif" border="2" height="96" hspace="10" width="320"><br>
418 +</font></p>
419 + </td>
420 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/al5a12.jpg" border="2" height="240" hspace="10" width="320"><br>
421 +Figure 15.</font></td>
422 + </tr>
423 + <tr>
424 + <td colspan="2" align="left" valign="top" width="100%">&nbsp;</td>
425 + </tr>
426 + <tr>
427 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 16.<br>
428 + </b>Attach the HS-485HB wrist servo to the bracket as shown using
429 +the 3mm hardware; follow the diagram below. Use two #2 x 1/4" tapping
430 +screws to secure the bracket to the servo horn. Route the shoulder
431 +servo wires over the servo.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
432 +&nbsp;</font>
433 + <table border="0" width="100%">
434 + <tbody>
435 + <tr>
436 + <td width="50%"><font face="Verdana" size="2"><b>2 x</b></font></td>
437 + <td width="50%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
438 + </tr>
439 + <tr>
440 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/2250phts.gif" border="2" height="96" width="160"></font></td>
441 + <td width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/holes.gif" border="2" height="96" width="160"></font></td>
442 + </tr>
443 + <tr>
444 + <td colspan="2" width="100%"><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
445 + </tr>
446 + <tr>
447 + <td colspan="2" width="100%">
448 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/brack02.gif" border="2" height="96" width="320"></font></p>
449 + </td>
450 + </tr>
451 + </tbody>
452 + </table>
453 + </td>
454 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/al5a13.jpg" border="2" height="240" hspace="10" width="320"><br>
455 +Figure 16.</font></td>
456 + </tr>
457 + <tr>
458 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
459 + </td>
460 + </tr>
461 + <tr>
462 + <td rowspan="2" align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 17.<br>
463 + </b>Attach the Little Grip to the lexan as shown, using three
464 +4-40 x .375" button head screws and acorn locking nuts. Only three
465 +screws are used (shown in the image) as the body of the gripper servo
466 +is in the way for the fourth.</font>
467 + <p><font face="Verdana" size="2">Make sure the HS-422 (a HS-322HD
468 +may be substituted) servo is aligned to mid-position, and the gripper
469 +is halfway open. Now the servo and gripper will be aligned correctly.
470 +Remove the servo screw and horn. Slide the servo into the gripper from
471 +the bottom. You may need to wiggle it a bit to get it seated properly.
472 +Use the servo screw to attach the servo. Tighten this down, but then
473 +unscrew it half a turn. Too much friction can bind the servo.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
474 +&nbsp;</font> </p>
475 + <table border="0" width="100%">
476 + <tbody>
477 + <tr>
478 + <td width="50%"><font face="Verdana" size="2"><b>3 x</b></font></td>
479 + <td width="50%"><font face="Verdana" size="2"><b>3 x</b></font></td>
480 + </tr>
481 + <tr>
482 + <td width="50%"><font face="Verdana" size="2"><b><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/4375hbs.gif" border="2" height="96" width="160"></b></font></td>
483 + <td width="50%"><font face="Verdana" size="2"><b><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/440nan.GIF" border="2" height="96" width="160"></b></font></td>
484 + </tr>
485 + </tbody>
486 + </table>
487 +&nbsp;
488 + <p><font face="Verdana" size="2"><b>Step 18.</b><br>
489 +Add a 12" servo extender cable to the gripper servo, and a 6" extender
490 +cable to the wrist servo.</font></p>
491 + </td>
492 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/al5a14.jpg" border="2" height="240" width="320"><br>
493 +Figure 17.<br>
494 +&nbsp;</font></td>
495 + </tr>
496 + <tr>
497 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/al5b07.jpg" border="2" height="240" width="320"><br>
498 +Figure 18.</font></td>
499 + </tr>
500 + <tr>
501 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
502 + </tr>
503 + <tr>
504 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 19.<br>
505 + </b>Carefully bend the wrist servo back as far as it will go, and
506 +use wire ties to secure the servo cables as shown. Make sure to leave
507 +slack in the gripper servo cable, don't pull it too tight.</font></td>
508 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/al5b08.jpg" border="2" height="240" width="320"><br>
509 +Figure 19.</font></td>
510 + </tr>
511 + <tr>
512 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
513 + </td>
514 + </tr>
515 + <tr>
516 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 20.<br>
517 + </b>Carefully stretch the arm forward as far as it will go, and
518 +use wire ties to secure the servo cables as shown. Make sure to leave
519 +slack in the cables, don't pull them too tight. Plug the servos in
520 +according to Table 20.<br>
521 +&nbsp;</font>
522 + <div align="center">
523 + <center>
524 + <table border="1" bordercolor="#ffffff" width="320">
525 + <tbody>
526 + <tr>
527 + <td width="100%">
528 + <div align="center">
529 + <table border="1" bordercolor="#000000" width="320">
530 + <tbody>
531 + <tr>
532 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1"><b>SSC-32
533 +I/O</b></font></td>
534 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="75%"><font face="Verdana" size="1"><b>Servo</b></font></td>
535 + </tr>
536 + <tr>
537 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">00</font></td>
538 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Base</font></td>
539 + </tr>
540 + <tr>
541 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">01</font></td>
542 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Shoulder</font></td>
543 + </tr>
544 + <tr>
545 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">02</font></td>
546 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Elbow</font></td>
547 + </tr>
548 + <tr>
549 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">03</font></td>
550 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Wrist</font></td>
551 + </tr>
552 + <tr>
553 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">04</font></td>
554 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Gripper</font></td>
555 + </tr>
556 + <tr>
557 + <td bordercolor="#808080" align="center" bgcolor="#c0c0c0" width="25%"><font face="Verdana" size="1">05</font></td>
558 + <td bordercolor="#C0C0C0" align="center" bgcolor="#ffffff" width="75%"><font face="Verdana" size="1">Wrist
559 +Rotate (Optional)</font></td>
560 + </tr>
561 + </tbody>
562 + </table>
563 + </div>
564 + </td>
565 + </tr>
566 + <tr>
567 + <td bordercolor="#FFFFFF">
568 + <p align="center"><font face="Verdana" size="2">Table 20.</font></p>
569 + </td>
570 + </tr>
571 + </tbody>
572 + </table>
573 + </center>
574 + </div>
575 + </td>
576 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/al5b09.jpg" border="2" height="240" width="320"><br>
577 +Figure 20.</font></td>
578 + </tr>
579 + <tr>
580 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
581 + </tr>
582 + <tr>
583 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 21a (SSC-32 / Lynxterm).</b><br>If
584 +you have the SSC-32U, please proceed to step 21b. If you have the
585 +SSC-32, as in the Base Assembly Instructions, we'll use LynxTerm to
586 +test the
587 +servos and confirm that they're all plugged into the proper channels.
588 +If not done before, download and install <a href="http://www.lynxmotion.com/showproduct.aspx?productID=567&amp;CategoryID=15#downloads" target="_blank">LynxTerm v1.08</a> or higher. Connect the SSC-32 to
589 +the serial port and apply power. The green LED should light and stay on
590 +until it receives a valid serial command. Run the LynxTerm program. If
591 +LynxTerm cannot connect, please consult the <a href="http://www.lynxmotion.net/viewtopic.php?t=4702" target="_blank">serial
592 +and USB-to-serial troubleshooting guide</a>.</font>
593 + <p><font face="Verdana" size="2"><b>Step 22.</b><br>
594 +Now test the servos and connections by selecting a channel, and moving
595 +the servo carefully using the slider bar. Verify that the servos are
596 +plugged into the channels as listed in Table 20. Easy does it; this is
597 +real time control, so be careful!</font></p>
598 + </td>
599 + <td align="left" valign="top" width="50%">
600 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/lterm01.jpg" border="2" height="243" hspace="10" width="320"><br>
601 +Figure 21a (Lynxterm).</font></p>
602 + </td>
603 + </tr>
604 + <tr>
605 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
606 + </tr>
607 + <tr>
608 + <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Step
609 +21b (SSC-32U / Servo Utility).<br>
610 + </b>Just like in the base instructions, we will use the SSC-32 Servo
611 +Sequencer Utility to test the servos and confirm they are all plugged
612 +into their proper servo channels and oriented correctly. If not done so
613 +before, download and install the <a href="http://www.lynxmotion.com/p-895-free-download-ssc-32-servo-sequencer-utility-created-using-flowbotics-studio.aspx" target="_blank">SSC-32 Servo Sequencer Utility</a>. Connect the USB
614 +cable and power the board using the on/off switch.</font><font face="Verdana" size="2"> Run
615 +the program.<br>
616 + <br>
617 +The SSC-32U is shipped with a baud rate of 9600. Ensure the baud rate
618 +towards the bottom right of the window is set to 9600 (not 115200). The
619 +software should automatically detect which COM port is connected to the
620 +SSC-32U, and have installed the <a href="http://www.ftdichip.com/Drivers/VCP.htm" target="_blank">FTDI
621 +(USB to serial) drivers</a> automatically.<br>
622 +<br></font><font face="Verdana" size="2">
623 +Ensure Servos 0 4 are checked off in the software (and therefore accessible). </font><font face="Verdana" size="2">You can now move the sliders to see each servo rotate. </font><font face="Verdana" size="2">Verify that the servos are
624 +plugged into the channels as listed in Table 20. Easy does it; this is
625 +real time control, so be careful.<br>
626 +<br>
627 +For more information, please consult the <a href="http://www.flowbotics.com/manuals/ssc-32_servo_sequencer.pdf" target="_blank">SSC-32 Servo Sequencer Utility manual</a>. </font></td>
628 + <td style="vertical-align: top; text-align: center;"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/RB-Dsp-07.jpg" border="2" height="240" hspace="10" width="320"><br>
2 2  
630 + <font face="Verdana" size="2">Figure 21b (SSC-32 Utility).</font></td>
631 + </tr>
632 + <tr>
633 + <td style="vertical-align: top;"><br>
634 + </td>
635 + <td style="vertical-align: top;"><br>
636 + </td>
637 + </tr>
638 +<tr>
639 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 22a (SSC-32 / Lynxterm).</b><br>
640 +Click on the "All = 1500" button in LynxTerm. This will command the
641 +servos to hold center position. Your arm should look like Figure 22. If
642 +any joint is off by more than 15°, then you may have made an error in
643 +assembly.<br>
644 + <br>
645 +</font><font face="Verdana" size="2">
646 +If you did not purchase the RIOS software, please proceed to step 27.</font><br>
647 +
648 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/lterm02.jpg" border="2" height="120" hspace="10" width="320"></font></p>
649 + </td>
650 + <td align="left" valign="top" width="50%">
651 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/al5b13.jpg" border="2" height="240" hspace="10" width="320"><br>
652 +Figure 22.</font></p>
653 + </td>
654 + </tr>
655 + <tr>
656 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
657 + </td>
658 + </tr>
659 + <tr>
660 + <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Step 22b (SSC-32U / Servo Utility).</b><br>
661 +Click on the "Calibrate" button in the SSC-32 Servo Sequencer Utility.
662 +A knob next to each servo will appear (figure 23b). This knob is used
663 +to fine tune the servo's center position. The knob is not intended to
664 +be rotated: click the knob you wish to rotate, keeping the mouse button
665 +down, and drag up and down to rotate the knob. Do this for each servo
666 +until the arm looks like figure 22, and angles are 90 and 180 degrees.
667 +If
668 +any joint is off by more than 15°, then you may have made an error in
669 +assembly.<br>
670 + <br>
671 + </font><font face="Verdana" size="2">
672 +Once all servos have been properly positioned, click the icon
673 +"Calibrate" once again, and the offset values will be stored on the
674 +SSC-32 / SSC-32U.</font><br>
675 + <font face="Verdana" size="2">
676 +<br>
677 +If you did not purchase the RIOS software, please proceed to step 27.</font></td>
678 + <td style="vertical-align: top; text-align: center;"><img style="width: 320px; height: 240px;" alt="" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/ssc-32-utility-calibrate.jpg" border="2"><br>
679 +<font face="Verdana" size="2">
680 +Figure 22b (SSC-32 Utility).</font></td>
681 + </tr>
682 + <tr>
683 + <td style="vertical-align: top;"><br>
684 + </td>
685 + <td style="vertical-align: top;"><br>
686 + </td>
687 + </tr>
688 +<tr>
689 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 23 (RIOS Users Only).<br>
690 + </b>To use the RIOS Arm control software, you need to make one
691 +minor modification. Remove the servo horn screw from the elbow servo.
692 +Pull the servo horn off the servo, lift the arm two 'clicks' (30°) at
693 +the elbow and reattach the servo horn and screw. Note, the Hitec spline
694 +has 24 grooves, so each groove is 15°.</font></td>
695 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/al5b10.jpg" border="2" height="240" width="320"><br>
696 +Figure 23.</font></td>
697 + </tr>
698 + <tr>
699 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
700 + </tr>
701 + <tr>
702 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 24</b></font><font face="Verdana" size="2"><b> (RIOS Users Only)</b></font><font face="Verdana" size="2"><b>.</b><br>
703 +At this point the arms is assembled and tested using LynxTerm. Now we
704 +need to install RIOS and calibrate the arm to the software. Use the
705 +RIOS Help File to calibrate and use the arm.</font>
706 + <p><font face="Verdana" size="2">Install RIOS, following the
707 +on-screen installation prompts. The serial number is on the back of the
708 +CD sleeve.</font></p>
709 + <p><font face="Verdana" size="2">Use the RIOS Help File to
710 +calibrate and use the arm, following Steps 1-7. When you get to Step 8
711 +in the help file, please use the following instructions instead.</font></p>
712 + <p><font face="Verdana" size="2">Please take the time to do an
713 +accurate calibration. The performance of the arm will only be as good
714 +as the calibration. If the on screen virtual arm does not match the
715 +real arm this is a sign of an inaccurate calibration. After calibration
716 +please study the RIOS manual carefully to learn how to store and
717 +playback sequences for the arm.</font></p>
718 + </td>
719 + <td align="left" valign="top" width="50%">
720 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/rios03.jpg" border="2" height="240" hspace="10" width="320"></font><br>
721 + <font face="Verdana" size="2">
722 +Figure 24 (RIOS).</font></p>
723 + </td>
724 + </tr>
725 + <tr>
726 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
727 + </tr>
728 + <tr>
729 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 25</b></font><font face="Verdana" size="2"><b> (RIOS Users Only)</b></font><font face="Verdana" size="2"><b>.</b><br>
730 +To calibrate the arm's Shoulder servo, click the "SSC-32" button.</font></td>
731 + <td align="left" valign="top" width="50%">
732 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/rios04.jpg" border="2" height="240" hspace="10" width="320"></font><br>
733 + <font face="Verdana" size="2">
734 +Figure 25 (RIOS).</font></p>
735 + </td>
736 + </tr>
737 + <tr>
738 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
739 + </td>
740 + </tr>
741 + <tr>
742 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 26</b></font><font face="Verdana" size="2"><b> (RIOS Users Only)</b></font><font face="Verdana" size="2"><b>.</b><br>
743 +Start the servo configuration with the Shoulder, servo #2. Move the
744 +shoulder slider up to move the shoulder forward so that it looks like
745 +Figure 27-2. Set the Min Deg angle -90°. Right click on the slider to
746 +set this as the Min Position. Now the servo will not go past this
747 +value, and the program now knows this value is exactly 90° from
748 +centered.</font>
749 + <p><font face="Verdana" size="2">Now move the slider down to move
750 +the shoulder backward so that it looks like Figure 27-3. Set the Max
751 +Deg angle to 90°. Right click on the slider to set this as the Max
752 +Position. Now the servo will not go past this value, and the program
753 +now knows this value is exactly 90° from centered.</font></p>
754 + <p><font face="Verdana" size="2">The next step is to read and
755 +study the RIOS users guide. It is accessible by clicking on the help
756 +icon on the main screen or by navigating to the install directory
757 +(c:\Program Files\RIOS_SSC-32\) and opening the Help.pdf file. This
758 +manual explains in great detail how to use the arm.</font></p>
759 +
760 + </td>
761 + <td align="left" valign="top" width="50%">
762 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/rios01.jpg" border="2" height="240" hspace="10" width="321"><br>
763 +Figure 26-1 (RIOS).</font></p>
764 + </td>
765 + </tr>
766 + <tr>
767 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
768 + </tr>
769 + <tr>
770 + <td align="left" valign="top" width="50%">
771 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/al5_90.jpg" border="2" height="240" hspace="10" width="320"><br>
772 +Figure 26-2.</font></p>
773 + </td>
774 + <td align="left" valign="top" width="50%">
775 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/al5_902.jpg" border="2" height="240" hspace="10" width="320"><br>
776 +Figure 26-3.</font></p>
777 + </td>
778 + </tr>
779 + <tr>
780 + <td colspan="2" align="left" valign="top" width="100%"><font face="Verdana" size="2">&nbsp;</font></td>
781 + </tr>
782 + <tr>
783 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 27.<br>
784 + </b>To connect springs for load-balancing, replace the servo
785 +attachment hardware in the locations shown, following the diagrams
786 +below. Hook the springs together after they're secured.</font>
787 + <p align="center"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/spr03.gif" border="2" height="96" width="320"></p>
788 + <p align="center"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/spr02.gif" border="2" height="96" width="320"></p>
789 + </td>
790 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5b-arm-rev-2-1/WebHome/al5b11.jpg" border="2" height="240" width="320"><br>
791 +Figure 27.</font></td>
792 + </tr>
793 + <tr>
794 + <td colspan="2" align="left" valign="top" width="100%"><br class="pb">
795 + </td>
796 + </tr>
797 + <tr>
798 + <td align="left" valign="top" width="50%"><font face="Verdana" size="2"><b>Step 28.<br>
799 + </b>The arm assembly is complete.&nbsp;</font><font face="Verdana" size="2"> The arm is robust mechanically,
800 +but the servos can be damaged by improper use. An example would be if
801 +the arm was told to move to an unobtainable position, like the surface
802 +the arm is mounted to, or by crashing the arm into itself, or other
803 +objects. The elbow servo is the most vulnerable because it holds the
804 +entire weight of the forearm. Load balancing springs should be added to
805 +reduce some of this load.<br>
806 + <br>
807 + </font><font face="Verdana" size="2">If you purchased FlowBotics Studio,
808 +FlowStone or FlowArm, you can proceed with the instruction guide(s)
809 +associated with those programs.</font><br>
810 +
811 +
812 + <p><font color="#ff0000" face="Verdana" size="2"><b> People do
813 +not like holding heavy objects with their arms outstretched in front of
814 +them. Servo based robot arms don't like it much either. Remember, the
815 +most important rule for servo based robot arms: Park the arm when not
816 +in motion! When it's moving or at rest it's usually ok. When it's
817 +holding an object it should do so for the minimum amount of time
818 +required to do the job. You can always touch the servo case to see if
819 +it's getting hot.</b> </font> </p>
820 + </td>
821 + <td align="center" valign="top" width="50%"><font face="Verdana" size="2"><br>
822 +</font></td>
823 + </tr>
824 + </tbody>
825 +</table>
826 +
827 +</body>
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