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  • ses-pro-robotic-arm-ui-installer.zip

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6	6
7	7	{{toc/}}
8	8
	9	+= Installation =
	10	+
	11	+Windows 7 Operating System or above
	12	+
9	9	= Description =
10	10
	15	+The Lynxmotion Servo Erector Set Professional (SES PRO) Arm Interface is a simple software which allows a user to control any of the Lynxmotion Professional Modular robotic arms in their default configuration. The two compatible gripper kits which are compatible with the SES PRO system (based on the DH Robotics PGE-50-40 and CGE-10-10 DC grillers) can also be controlled via this interface in each of their possible configurations. The included manual jog feature can be used to either position each joint angle, or move to specific cartesian coordinates. Arm (and gripper) positions can then be recorded as part of the built-in sequencer. A 3D display of the arm shows the position of the arm, and a graph can be used to show various information to the user. In order to get a better understanding of the protocol, commands sent to the arm are shown in the interface, and a user input field are standard.
11	11
12	12	= Features =
13	13
	19	+* Angular and cartesian positioning of the end effector
	20	+* 3D graphical display of the appropriate robotic arm and end effector
	21	+* Sequencer to record and play back frames (single, looped or infinite)
	22	+* Error checking (speed, temperature etc.)
	23	+* Command output and user input
	24	+* Safety (Software E-Stop, Halt&Hold & Limp)
14	14
15		-<direct commands>
	26	+|(% colspan="2" %)(((
	27	+= User Guide =
	28	+)))
	29	+|(% style="width:26px" %) |(% style="width:1452px" %)(((
	30	+Pressing the i "Information" icon in the software will bring you to this page. Before proceeding with the guide, it is important to note the following:
16	16
17		-* Does not require ‘#’ and ‘\r’ chars, example for #254Q\r the user should enter 254Q.
18		-* The replies of the query commands are shown in the text field below.
	32	+* Neither the servos nor the arm are meant to be operated in proximity of humans as they do not have "collaborative" (COBOT) features and do not detect collision
	33	+* The servos use stepper motors and do NOT include mechanical brakes. If the stepper motor is unable to retain or move to a desired angle (insufficient torque), the motor will rotate freely as opposed to hold the last position
	34	+)))
	35	+|(% colspan="2" %)(((
	36	+== IMPORTANT ==
	37	+)))
	38	+|(% style="width:26px" %) |(% style="width:1452px" %)(((
	39	+=== Payload Considerations ===
	40	+
	41	+1. The rated payload for each arm does NOT include an end effector, nor any added distance between the center of mass of the payload and the output of the final joint. Each of the two compatible Lynxmotion PRO grippers reduce the maximum payload of each arm, and it is up to the user to known and understand the concept of "torque" and center of mass before adding an end effector and payload.
	42	+1. The rated maximum payload for each arm (at full reach) is at the rated speed for each motor. Moving any joint at a higher speed will decrease the payload capacity of the robot.
	43	+1. Although each servo can provide significantly more torque than is needed for the rated payload (and therefore means the arm can support much higher loads at lower speeds, the mechanical and modular structure of the arms may fail. We strongly suggest testing and using each arm in a highly controlled and safe setting where, if a failure should occur with one or more joints, that nothing will break should the arm fall.
	44	+1. The stepper motors provide the highest torque at low speeds, and lower torque at high speeds. Note that the maxium torque is not at the lowest speed as the torque to rpm curve for each servo resembles a "mountain".
	45	+)))
	46	+|(% style="width:26px" %) |(% style="width:1452px" %)(((
	47	+=== Emergency ===
	48	+
	49	+Before using the arm, it is important that a user know what to do when an issue or emergency arises where the arm must be stopped quickly. The following emergency options are available based on severity:
	50	+
	51	+**Halt & Hold**
	52	+
	53	+This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
	54	+
	55	+**Limp**
	56	+
	57	+All joints will go limp which mean there will be nothing avoiding them to turn freely (potentially causing the arm to fall). The high gear ratio of the strain wave gearing does mean there is some (low) level of resistant to rotation, but the gears and motor are nto "locked" and as such, the arm may fall. The corresponding command is #254L<cr>.
	58	+
	59	+**Software Stop**
	60	+
	61	+The E-stop button within the software sets all joints to limp.
	62	+
	63	+**Hardware E-Stop**
	64	+A hardware E-stop (push to cut power) button is located on the power supply which will cut electricity to all actuators. Similar to a limp command, this can possibly cause the arm to fall. To reset this button, rotate the red "mushroom" in the direction indicated by the white arrows and it will spring out.
	65	+)))
	66	+|(% colspan="2" %)(((
	67	+== Arm Connection ==
	68	+)))
	69	+|(% style="width:26px" %) |(% style="width:1452px" %)(((
	70	+**Model**
	71	+
	72	+The software currently supports the following Lynxmotion PRO Arms:
	73	+
	74	+* 550mm 5DoF
	75	+* 550mm 6DoF
	76	+* 900mm 5DoF
	77	+* 900mm 6DoF
	78	+
	79	+In practice, each 5DoF arm has joint 4 at a fixed angle, otherwise the arms are identical to the 6DoF. Users can always purchase the missing actuator to upgrade to a 6DoF.
	80	+
	81	+**COM Port**
	82	+
	83	+The first joint at the base (J1) must be connected via USB to a computer running the sofware. No other joints should have a USB connection. A USB 3.0 port or higher on the computer is suggested, as the lower communication speeds fo USB 2.0 or 1.0 may impede communication and cause unecessary delay or issues.
	84	+
	85	+**Connect**
	86	+
	87	+Once the COM port has been selection, the CONNECT button can be pressed, and once a servo has been found, the light next to it will go from red to green.
	88	+)))
	89	+|(% colspan="2" %)(((
	90	+== Gripper Controls ==
	91	+)))
	92	+|(% style="width:26px" %) |(% style="width:1452px" %)(((
	93	+**Model**
	94	+
	95	+The software currently supports two models of Lynxmotion PRO compatible grippers based on DH Robots' PGE-50-40 and CGE-10-10 electric grippers. The Lynxmotion kits include hardware to mount the fingers in multiple different offsets for smaller or larger objects. In the sequencer, the position of the fingers for each gripper are included in the sequencer as J7.
	96	+
	97	+* PGE-50-40 (40mm default configuration)
	98	+* PGE-50-40 (60mm configuration)
	99	+* PGE-50-40 (80mm configuration)
	100	+* CGE-10-10 (20mm configuration)
	101	+* CGE-10-10 (40mm configuration)
	102	+* CGE-10-10 (60mm configuration)
	103	+
	104	+**COM Port**
	105	+
	106	+Choose the appropriate COM port to which the gripper is connected (via its own USB cable). If you are not certain, you can check Windows -> Device Manager
	107	+
	108	+**Baudrate**
	109	+
	110	+The DH Robotics grippers provide the option to change the baud rate, though the default is 115200. If the gripper is configured by the user to a different baud rate, it is important to select the corresponding baud rate in the software.
	111	+
	112	+**Initialize**
	113	+
	114	+Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
	115	+
	116	+**Connect**
	117	+
	118	+Pressing CONNECT establishes a connection to the gripper and goes through the initilization process once, opening the gripper fully. Once connection has been established, the light next to the button will go from red to green.
	119	+
	120	+**Speed**
	121	+
	122	+The speed of motion can be adjusted either via the plus or minus buttons or entering a value between 0 and 100 and pressing enter.
	123	+
	124	+**Force**
	125	+
	126	+The maximum force exerted by the gripper can be adjusted either via the plus or minus buttons or entering a value between 0 and 100 and pressing enter.
	127	+
	128	+**Open / Close**
	129	+
	130	+These are shortcut buttons to either fully open or fully close the gripper.
	131	+
	132	+**Sequencer**
	133	+
	134	+The sequencer displays the gripper position as joint 7 (J7).
	135	+
	136	+HINT: If you want the gripper to open or close on an object only at the end of a motion, create a separate frame where only J7 moves.
	137	+)))
	138	+|(% colspan="2" %)(((
	139	+== 3D Model ==
	140	+)))
	141	+|(% style="width:26px" %) |(% style="width:1452px" %)(((
	142	+The 3D model of the arm is shown as reference at all times. The display also includes a virtual plane to denote  the X-Y plane. The model updates based on the selection of the arm, gripper and finger configuration.
	143	+
	144	+**View Controls**
	145	+
	146	+Zoom: Shift + Middle Scroll
	147	+
	148	+Rotate: Shift + Middle Mouse
	149	+
	150	+Pan: None
	151	+)))
	152	+|(% colspan="2" %)(((
	153	+== Manual Move ==
	154	+)))
	155	+|(% style="width:26px" %) |(% style="width:1452px" %)(((
	156	+**Angular Control**
	157	+
	158	+In angular mode, the user can control the angle of each joint
	159	+
	160	+**Coordinates Control**
	161	+
	162	+In coordinate control the user can control the cartesian position of the end effector
	163	+
	164	+**End Effector Lock**
	165	+
	166	+The orientation of the end effector can be locked.
	167	+)))
	168	+|(% colspan="2" %)(((
	169	+== Direct Command ==
	170	+)))
	171	+|(% style="width:26px" %) |(% style="width:1452px" %)(((
	172	+This section allow the user to send commands using the [[LSS-PRO Communication Protocol>>path:/info/wiki/lynxmotion/view/ses-pro/lss-pro/lss-p-communication-protocol/]] directly if required.
	173	+
	174	+A few things to keep in mind when using this:
	175	+
	176	+* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
	177	+* Sending commands does not require ‘#’ and ‘\r’ chars.
	178	+** example for #2\r you should enter 2Q and press the "SEND" button
19	19	* The commands are validated, and it shows a notification in case of error.
20		-* Supported commands:
	180	+* The replies of queries are shown in the text field below.
	181	+)))
	182	+|(% colspan="2" %)(((
	183	+== Command Output ==
	184	+)))
	185	+|(% style="width:26px" %) |(% style="width:1452px" %)(((
	186	+//{Coming Soon}//
	187	+)))
	188	+|(% colspan="2" %)(((
	189	+== Telemetry ==
	190	+)))
	191	+|(% style="width:26px" %) |(% style="width:1452px" %)(((
	192	+**Data to Display**
21	21
22		-Action:
	194	+Various telemetry data can be retrieved from each actuators / joints, here is what the software support:
23	23
24		- # Communication setup
	196	+* Position
	197	+* Current
	198	+* Linear Accel X
	199	+* Linear Accel Y
	200	+* Linear Accel Z
	201	+* Angular Accel α
	202	+* Angular Accel β
	203	+* Angular Accel γ
	204	+* MCU Temperature
	205	+* PCB Temperature
	206	+* Probe Temperature
25	25
26		- RESET = "RESET"
	208	+**Display / Hide **
27	27
28		- DEFAULT_CONFIGURATION = "DEFAULT"
	210	+At the bottom of the graphics you will find squares to activate / deactivate the desired actuator / joint to be displayed in the graph.
	211	+)))
	212	+|(% colspan="2" style="width:26px" %)(((
	213	+== Sequencer ==
	214	+)))
	215	+|(% style="width:26px" %) |(% style="width:1452px" %)(((
	216	+**Sequence**
29	29
30		- FIRMWARE_UPDATE_MODE = "UPDATE"
	218	+Add
31	31
32		- CONFIRM_CHANGES = "CONFIRM"
	220	+Substract
33	33
34		- # Motion
	222	+Copy
35	35
36		- POSITION = "D"
	224	+Save
37	37
38		- MOVE_DEGREES = "MD"
	226	+Open
39	39
40		- WHEEL_MODE_DEGREES = "WD"
	228	+Delete
41	41
42		- WHEEL_MODE_RPM = "WR"
	230	+//{Coming Soon}//
43	43
44		- HALT_AND_HOLD = "H"
	232	+**Frames**
45	45
46		- LIMP = "L"
	234	+Add
47	47
48		- # Motion setup
	236	+Sequence Selector
49	49
50		- ORIGIN_OFFSET = "O"
	238	+Record
51	51
52		- ANGULAR_RANGE = "AR"
	240	+Delete
53	53
54		- ANGULAR_ACCELERATION = "AA"
	242	+Copy
55	55
56		- ANGULAR_DECELERATION = "AD"
	244	+Paste
57	57
58		- GYRE_DIRECTION = "G"
	246	+Swap
59	59
60		- MAX_SPEED_DEGREES = "SD"
	248	+Manual Edit
61	61
62		- MAX_SPEED_RPM = "SR"
	250	+Time, angles, gripper
63	63
64		- # RGB LED
	252	+Moving Frames
65	65
66		- LED_COLOR = "LED"
	254	+//Alt + Left Click = Drag time//
67	67
68		- Query:
	256	+//{Coming Soon}//
69	69
70		- # Communication setup
	258	+**Errors**
71	71
72		- ID_NUMBER = "QID"
	260	+//{Coming Soon}//
	261	+)))
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73	73
74		- ENABLE_CAN_TERMINAL = "QET"
	317	+{{comment}}
	318	+= =
75	75
76		- USB_CONNECTION_STATUS = "QUC"
	320	+= User Guide =
77	77
78		- # Motion
	322	+Pressing the i "Information" icon in the software will bring you to this page. Before proceeding with the guide, it is important to note the following:
79	79
80		- POSITION = "QD"
	324	+* Neither the servos nor the arm are meant to be operated in proximity of humans as they do not have "collaborative" (COBOT) features and do not detect collision
	325	+* The servos use stepper motors and do NOT include mechanical brakes. If the stepper motor is unable to retain or move to a desired angle (insufficient torque), the motor will rotate freely as opposed to hold the last position
81	81
82		- WHEEL_MODE_DEGREES = "QWD"
	327	+== IMPORTANT: Payload Considerations ==
83	83
84		- WHEEL_MODE_RPM = "QWR"
	329	+1. The rated payload for each arm does NOT include an end effector, nor any added distance between the center of mass of the payload and the output of the final joint. Each of the two compatible Lynxmotion PRO grippers reduce the maximum payload of each arm, and it is up to the user to known and understand the concept of "torque" and center of mass before adding an end effector and payload.
	330	+1. The rated maximum payload for each arm (at full reach) is at the rated speed for each motor. Moving any joint at a higher speed will decrease the payload capacity of the robot.
	331	+1. Although each servo can provide significantly more torque than is needed for the rated payload (and therefore means the arm can support much higher loads at lower speeds, the mechanical and modular structure of the arms may fail. We strongly suggest testing and using each arm in a highly controlled and safe setting where, if a failure should occur with one or more joints, that nothing will break should the arm fall.
	332	+1. The stepper motors provide the highest torque at low speeds, and lower torque at high speeds. Note that the maxium torque is not at the lowest speed as the torque to rpm curve for each servo resembles a "mountain".
85	85
86		- MOTION_STATUS = "Q"
	334	+== IMPORTANT: Emergency ==
87	87
88		- MOTION_TIME = "QMT"
	336	+Before using the arm, it is important that a user know what to do when an issue or emergency arises where the arm must be stopped quickly. The following emergency options are available based on severity:
89	89
90		- CURRENT_SPEED = "QCS"
	338	+**Halt & Hold**
91	91
	340	+This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
92	92
93		- # Telemetry
	342	+**Limp**
94	94
95		- MODEL_STRING = "QMS"
	344	+All joints will go limp which mean there will be nothing avoiding them to turn freely (potentially causing the arm to fall). The high gear ratio of the strain wave gearing does mean there is some (low) level of resistant to rotation, but the gears and motor are nto "locked" and as such, the arm may fall. The corresponding command is #254L<cr>.
96	96
97		- FIRMWARE_VERSION = "QF"
	346	+**Software Stop**
98	98
99		- SERIAL_NUMBER = "QN"
	348	+The E-stop button within the software sets all joints to limp.
100	100
101		- TEMP_CONTROLLER_ERROR = "QTCE"
	350	+**Hardware E-Stop**
	351	+A hardware E-stop (push to cut power) button is located on the power supply which will cut electricity to all actuators. Similar to a limp command, this can possibly cause the arm to fall. To reset this button, rotate the red "mushroom" in the direction indicated by the white arrows and it will spring out.
102	102
103		- TEMP_CONTROLLER_WARNING = "QTCW"
	353	+== Arm Connection ==
104	104
105		- CURRENT = "QC"
	355	+**Model**
106	106
107		- ACCX = "QIX"
	357	+The software currently supports the following Lynxmotion PRO Arms:
108	108
109		- ACCY = "QIY"
	359	+* 550mm 5DoF
	360	+* 550mm 6DoF
	361	+* 900mm 5DoF
	362	+* 900mm 6DoF
110	110
111		- ACCZ = "QIZ"
	364	+In practice, each 5DoF arm has joint 4 at a fixed angle, otherwise the arms are identical to the 6DoF. Users can always purchase the missing actuator to upgrade to a 6DoF.
112	112
113		- ACCALPHA = "QIA"
	366	+**COM Port**
114	114
115		- ACCBETA = "QIB"
	368	+The first joint at the base (J1) must be connected via USB to a computer running the sofware. No other joints should have a USB connection. A USB 3.0 port or higher on the computer is suggested, as the lower communication speeds fo USB 2.0 or 1.0 may impede communication and cause unecessary delay or issues.
116	116
117		- ACCGAMMA = "QIG"
	370	+**Connect**
118	118
119		- TEMPMCU = "QTM"
	372	+Once the COM port has been selection, the CONNECT button can be pressed, and once a servo has been found, the light next to it will go from red to green.
120	120
121		- TEMPPROBE = "QTP"
	374	+== Gripper Controls ==
122	122
123		- TEMPPCB = "QT"
	376	+**Model**
124	124
125		- ERROR_FLAGS = "QEF"
	378	+The software currently supports two models of Lynxmotion PRO compatible grippers based on DH Robots' PGE-50-40 and CGE-10-10 electric grippers. The Lynxmotion kits include hardware to mount the fingers in multiple different offsets for smaller or larger objects. In the sequencer, the position of the fingers for each gripper are included in the sequencer as J7.
126	126
	380	+* PGE-50-40 (40mm default configuration)
	381	+* PGE-50-40 (60mm configuration)
	382	+* PGE-50-40 (80mm configuration)
	383	+* CGE-10-10 (20mm configuration)
	384	+* CGE-10-10 (40mm configuration)
	385	+* CGE-10-10 (60mm configuration)
127	127
128		- # RGB LED
	387	+**COM Port**
129	129
130		- LED_COLOR = "QLED"
	389	+Choose the appropriate COM port to which the gripper is connected (via its own USB cable). If you are not certain, you can check Windows -> Device Manager
131	131
132		- LED_BLINKING = "QLB"
	391	+**Baudrate**
133	133
134		- LED_INDICATOR = "QLI"
	393	+The DH Robotics grippers provide the option to change the baud rate, though the default is 115200. If the gripper is configured by the user to a different baud rate, it is important to select the corresponding baud rate in teh software.
135	135
	395	+**Initialize**
136	136
137		- # Motion setup
	397	+Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
138	138
139		- ORIGIN_OFFSET = "QO"
	399	+**Connect**
140	140
141		- ANGULAR_RANGE = "QAR"
	401	+Pressing CONNECT establishes a connection to the gripper and goes through the initilization process once, opening the gripper fully. Once connection has been established, the light next to the button will go from red to green.
142	142
143		- ANGULAR_ACCELERATION = "QAA"
	403	+**Speed**
144	144
145		- ANGULAR_DECELERATION = "QAD"
	405	+The speed of motion can be adjusted either via the plus or minus buttons or entering a value between 0 and 100 and pressing enter.
146	146
147		- GYRE_DIRECTION = "QG"
	407	+**Force**
148	148
149		- MAX_SPEED_DEGREES = "QSD"
	409	+The maximum force exerted by the gripper can be adjusted either via the plus or minus buttons or entering a value between 0 and 100 and pressing enter.
150	150
151		- MAX_SPEED_RPM = "QSR"
	411	+**Open / Close**
152	152
	413	+These are shortcut buttons to either fully open or fully close the gripper.
153	153
154		- Conf:
	415	+**Sequencer**
155	155
156		- # Communication setup
	417	+The sequencer displays the gripper position as joint 7 (J7).
157	157
158		- ID_NUMBER = "CID"
	419	+HINT: If you want the gripper to open or close on an object only at the end of a motion, create a separate frame where only J7 moves.
159	159
160		- ENABLE_CAN_TERMINAL = "CET"
	421	+== 3D Model ==
161	161
162		- USB_CONNECTION_STATUS = "CUC"
	423	+The 3D model of the arm is shown as reference at all times. The display also includes a virtual plane to denote  the X-Y plane. The model updates based on the selection of the arm, gripper and finger configuration.
163	163
164		- # Motion setup
	425	+**View Controls**
165	165
166		- MAX_SPEED_DEGREES = "CSD"
	427	+Zoom: Shift + Middle Scroll
167	167
168		- MAX_SPEED_RPM = "CSR"
	429	+Rotate: Shift + Middle Mouse
169	169
170		- ORIGIN_OFFSET = "CO"
	431	+Pan: None
171	171
172		- ANGULAR_RANGE = "CAR"
	433	+== Manual Move ==
173	173
174		- ANGULAR_ACCELERATION = "CAA"
	435	+**Angular Control**
175	175
176		- ANGULAR_DECELERATION = "CAD"
	437	+In angular mode, the user can control the angle of each joint
177	177
178		- GYRE_DIRECTION = "CG"
	439	+**Coordinates Control**
179	179
180		- # RGB LED
	441	+In coordinate control the user can control the cartesian position of the end effector
181	181
182		- LED_COLOR = "CLED"
	443	+**End Effector Lock**
183	183
184		- LED_BLINKING = "CLB"
	445	+The orientation of the end effector can be locked.
185	185
	447	+== Direct Command ==
186	186
187		- Modifier:
	449	+This section allow the user to send commands using the [[doc:ses-pro.lss-pro.lss-p-communication-protocol.WebHome]] directly if required.
188	188
189		- SPEED = "SD"
	451	+A few things to keep in mind when using this:
190	190
191		- TIME = "T"
	453	+* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
	454	+* Sending commands does not require ‘#’ and ‘\r’ chars.
	455	+** example for #2\r you should enter 2Q and press the "SEND" button
	456	+* The commands are validated, and it shows a notification in case of error.
	457	+* The replies of queries are shown in the text field below.
	458	+
	459	+== Command Output ==
	460	+
	461	+//{Coming Soon}//
	462	+
	463	+== Telemetry ==
	464	+
	465	+**Data to Display**
	466	+
	467	+//{Coming Soon}//
	468	+
	469	+**Display / Hide Actuator**
	470	+
	471	+//{Coming Soon}//
	472	+
	473	+== Sequencer ==
	474	+
	475	+**Frames**
	476	+
	477	+//{Coming Soon}//
	478	+
	479	+**Record **
	480	+
	481	+//{Coming Soon}//
	482	+
	483	+**Edit **
	484	+
	485	+Time, angles, gripper
	486	+
	487	+//Alt + Left Click = Drag time//
	488	+
	489	+**Reorder**
	490	+
	491	+//{Coming Soon}//
	492	+
	493	+**Play**
	494	+
	495	+//{Coming Soon}//
	496	+
	497	+**Errors**
	498	+
	499	+//{Coming Soon}//
	500	+{{/comment}}

ses-pro-robotic-arm-ui-installer.zip

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