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	1	+xwiki:XWiki.CBenson

Content

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8	8
9	9	= Description =
10	10
	11	+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
	15	+* Angular and cartesian positioning of the end effector
	16	+* 3D graphical display of the appropriate robotic arm and end effector
	17	+* Sequencer to record and play back frames (single, looped or infinite)
	18	+* Error checking (speed, temperature etc.)
	19	+* Command output and user input
	20	+* Safety (Software E-Stop, Halt&Hold & Limp)
14	14
15	15	= User Guide =
16	16
17		-== Emergencies ==
	24	+Before proceeding with the guide, it is important to note the following:
18	18
19		-When an emergency occur the user will have three choices:
	26	+* 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
	27	+* 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
20	20
21		-**HALT & HOLD**
22		-Will stop all motions on every joints and hold them in their last positions.
	29	+== IMPORTANT: Payload Considerations ==
23	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.
	31	+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.
	32	+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.
	33	+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.
	34	+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".
26	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.
	36	+== IMPORTANT: Emergency ==
29	29
30		-(% class="wikigeneratedid" %)
31		-== 3D Model ==
	38	+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:
32	32
33		-**Control the View**
	40	+**Halt & Hold**
	41	+This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
34	34
35		-== Arm connection ==
	43	+**Limp**
	44	+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>.
36	36
	46	+**Software Stop**
	47	+
	48	+The E-stop button within the software sets all joints to limp.
	49	+
	50	+**Hardware E-Stop**
	51	+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.
	52	+
	53	+== Arm Connection ==
	54	+
37	37	**Model**
38	38
	57	+The software currently supports the Lynxmotion PRO 550mm 5 degree of freedom (5 DoF), 550mm 6DoF, 900mm 5DoF and 900mm 6DoF robotic arm configurations. In practice, each 5DoF has joint 4 at a fixed angle.
	58	+
39	39	**Serial COM Port**
40	40
	61	+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.
	62	+
41	41	**Connect**
42	42
43		-== Gripper connection ==
	65	+== Gripper Connection ==
44	44
45	45	**Model**
46	46
	69	+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.
	70	+
47	47	**Serial COM Port**
48	48
	73	+//{Coming Soon}//
	74	+
49	49	**Baudrate**
50	50
	77	+//{Coming Soon}//
	78	+
51	51	**Connect**
52	52
	81	+//{Coming Soon}//
	82	+
53	53	**Calibrate**
54	54
	85	+//{Coming Soon}//
	86	+
55	55	**Speed**
56	56
	89	+//{Coming Soon}//
	90	+
57	57	**Force**
58	58
	93	+//{Coming Soon}//
	94	+
59	59	**Open / Close**
60	60
61		-(% class="wikigeneratedid" %)
62		-== Manual Moves ==
	97	+//{Coming Soon}//
63	63
64		-**Joints Control**
	99	+== 3D Model ==
65	65
	101	+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.
	102	+
	103	+**View Controls**
	104	+
	105	+//{Coming Soon}//
	106	+
	107	+== Manual Move ==
	108	+
	109	+**Angular Control**
	110	+
	111	+In angular mode, the user can control the angle of each joint
	112	+
66	66	**Coordinates Control**
67	67
	115	+In coordinate control the user can control the cartesian position of the end effector
	116	+
	117	+**End Effector Lock**
	118	+
	119	+The orientation of the end effector can be locked.
	120	+
68	68	== Direct Command ==
69	69
70	70	This section allow the user to send commands using the [[doc:ses-pro.lss-pro.lss-p-communication-protocol.WebHome]] directly if required.
...	...	@@ -77,10 +77,44 @@
77	77	* The commands are validated, and it shows a notification in case of error.
78	78	* The replies of queries are shown in the text field below.
79	79
	133	+== Command Output ==
	134	+
	135	+//{Coming Soon}//
	136	+
80	80	== Telemetry ==
81	81
82	82	**Data to Display**
83	83
	141	+//{Coming Soon}//
	142	+
84	84	**Display / Hide Actuator**
85	85
86		-
	145	+//{Coming Soon}//
	146	+
	147	+== Sequencer ==
	148	+
	149	+**Frames**
	150	+
	151	+//{Coming Soon}//
	152	+
	153	+**Record **
	154	+
	155	+//{Coming Soon}//
	156	+
	157	+**Edit **
	158	+
	159	+Time, angles, gripper
	160	+
	161	+//{Coming Soon}//
	162	+
	163	+**Reorder**
	164	+
	165	+//{Coming Soon}//
	166	+
	167	+**Play**
	168	+
	169	+//{Coming Soon}//
	170	+
	171	+**Errors**
	172	+
	173	+//{Coming Soon}//