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Content

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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
11	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.
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19	19	* Command output and user input
20	20	* Safety (Software E-Stop, Halt&Hold & Limp)
21	21
	26	+|(% colspan="2" %)(((
22	22	= User Guide =
	28	+)))
	29	+|(% style="width:25px" %) |(((
	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:
23	23
24		-Before proceeding with the guide, it is important to note the following:
	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	+| |(((
	39	+=== Payload Considerations ===
25	25
	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	+| |(((
	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	+| |(((
	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	+| |(((
	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 teh 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	+)))
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	204	+
	205	+= =
	206	+
	207	+= User Guide =
	208	+
	209	+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:
	210	+
26	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	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
28	28
...	...	@@ -38,9 +38,11 @@
38	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:
39	39
40	40	**Halt & Hold**
	226	+
41	41	This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
42	42
43	43	**Limp**
	230	+
44	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>.
45	45
46	46	**Software Stop**
...	...	@@ -54,48 +54,70 @@
54	54
55	55	**Model**
56	56
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.
	244	+The software currently supports the following Lynxmotion PRO Arms:
58	58
59		-**Serial COM Port**
	246	+* 550mm 5DoF
	247	+* 550mm 6DoF
	248	+* 900mm 5DoF
	249	+* 900mm 6DoF
60	60
	251	+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.
	252	+
	253	+**COM Port**
	254	+
61	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	62
63	63	**Connect**
64	64
65		-== Gripper Connection ==
	259	+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.
66	66
	261	+== Gripper Controls ==
	262	+
67	67	**Model**
68	68
69	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	70
71		-**Serial COM Port**
	267	+* PGE-50-40 (40mm default configuration)
	268	+* PGE-50-40 (60mm configuration)
	269	+* PGE-50-40 (80mm configuration)
	270	+* CGE-10-10 (20mm configuration)
	271	+* CGE-10-10 (40mm configuration)
	272	+* CGE-10-10 (60mm configuration)
72	72
73		-//{Coming Soon}//
	274	+**COM Port**
74	74
	276	+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
	277	+
75	75	**Baudrate**
76	76
77		-//{Coming Soon}//
	280	+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.
78	78
79		-**Connect**
	282	+**Initialize**
80	80
81		-//{Coming Soon}//
	284	+Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
82	82
83		-**Calibrate**
	286	+**Connect**
84	84
85		-//{Coming Soon}//
	288	+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.
86	86
87	87	**Speed**
88	88
89		-//{Coming Soon}//
	292	+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.
90	90
91	91	**Force**
92	92
93		-//{Coming Soon}//
	296	+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.
94	94
95	95	**Open / Close**
96	96
97		-//{Coming Soon}//
	300	+These are shortcut buttons to either fully open or fully close the gripper.
98	98
	302	+**Sequencer**
	303	+
	304	+The sequencer displays the gripper position as joint 7 (J7).
	305	+
	306	+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.
	307	+
99	99	== 3D Model ==
100	100
101	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.
...	...	@@ -102,8 +102,12 @@
102	102
103	103	**View Controls**
104	104
105		-//{Coming Soon}//
	314	+Zoom: Shift + Middle Scroll
106	106
	316	+Rotate: Shift + Middle Mouse
	317	+
	318	+Pan: None
	319	+
107	107	== Manual Move ==
108	108
109	109	**Angular Control**
...	...	@@ -144,7 +144,7 @@
144	144
145	145	//{Coming Soon}//
146	146
147		-== Sequencer ==
	360	+== Sequencer ==
148	148
149	149	**Frames**
150	150
...	...	@@ -158,7 +158,7 @@
158	158
159	159	Time, angles, gripper
160	160
161		-//{Coming Soon}//
	374	+//Alt + Left Click = Drag time//
162	162
163	163	**Reorder**
164	164