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14	14
15	15	= User Guide =
16	16
17		-Arm connection
	17	+== Emergencies ==
18	18
	19	+When an emergency occur the user will have three choices:
	20	+
	21	+**HALT & HOLD**
	22	+Will stop all motions on every joints and hold them in their last positions.
	23	+
	24	+**LIMP**
	25	+All joints will go limp which mean there will be nothing avoiding them to turn freely. The internal mechanism of the LSS-P actuators does have some back driving forces but it will make the arm fall if this is engaged.
	26	+
	27	+**POWER SUPPLY EMERGENCY**
	28	+A push to cut power button is located on the power supply which will indeed cut all actuator from receiving their power. This will also make the arm fall.
	29	+
	30	+== Arm connection ==
	31	+
19	19	Model
20	20
21		-Gripper connection
	34	+Serial COM Port
22	22
	36	+Connect
	37	+
	38	+== Gripper connection ==
	39	+
23	23	Model
24	24
	42	+Serial COM Port
25	25
	44	+Baudrate
26	26
	46	+Connect
27	27
28		-<direct commands>
	48	+Calibrate
29	29
30		-* Does not require ‘#’ and ‘\r’ chars, example for #254Q\r the user should enter 254Q.
31		-* The replies of the query commands are shown in the text field below.
	50	+Speed
	51	+
	52	+Force
	53	+
	54	+Open / Close
	55	+
	56	+== Direct Command ==
	57	+
	58	+This section allow the user to send commands using the [[doc:ses-pro.lss-pro.lss-p-communication-protocol.WebHome]] directly if required.
	59	+
	60	+A few things to keep in mind when using this:
	61	+
	62	+* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
	63	+* Sending commands does not require ‘#’ and ‘\r’ chars.
	64	+** example for #2\r you should enter 2Q and press the "SEND" button
32	32	* The commands are validated, and it shows a notification in case of error.
33		-* Supported commands:
	66	+* The replies of queries are shown in the text field below.
34	34
35	35