Summary

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6	6
7	7	{{toc/}}
8	8
9		-(% class="wikigeneratedid" %)
10		-= Installation =
11		-
12		-Windows 7 Operating System or above
13		-
14	14	= Description =
15	15
16	16	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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26	26
27	27	= User Guide =
28	28
29		-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:
	24	+Before proceeding with the guide, it is important to note the following:
30	30
31	31	* 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
32	32	* 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
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43	43	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:
44	44
45	45	**Halt & Hold**
46		-
47	47	This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
48	48
49	49	**Limp**
50		-
51	51	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>.
52	52
53	53	**Software Stop**
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61	61
62	62	**Model**
63	63
64		-The software currently supports the following Lynxmotion PRO Arms:
	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.
65	65
66		-* 550mm 5DoF
67		-* 550mm 6DoF
68		-* 900mm 5DoF
69		-* 900mm 6DoF
	59	+**Serial COM Port**
70	70
71		-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.
72		-
73		-**COM Port**
74		-
75	75	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.
76	76
77	77	**Connect**
78	78
79		-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.
	65	+== Gripper Connection ==
80	80
81		-== Gripper Controls ==
82		-
83	83	**Model**
84	84
85	85	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.
86	86
87		-* PGE-50-40 (40mm default configuration)
88		-* PGE-50-40 (60mm configuration)
89		-* PGE-50-40 (80mm configuration)
90		-* CGE-10-10 (20mm configuration)
91		-* CGE-10-10 (40mm configuration)
92		-* CGE-10-10 (60mm configuration)
	71	+**Serial COM Port**
93	93
94		-**COM Port**
	73	+//{Coming Soon}//
95	95
96		-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
97		-
98	98	**Baudrate**
99	99
100		-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.
	77	+//{Coming Soon}//
101	101
102		-**Initialize**
	79	+**Connect**
103	103
104		-Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
	81	+//{Coming Soon}//
105	105
106		-**Connect**
	83	+**Calibrate**
107	107
108		-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.
	85	+//{Coming Soon}//
109	109
110	110	**Speed**
111	111
112		-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.
	89	+//{Coming Soon}//
113	113
114	114	**Force**
115	115
116		-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.
	93	+//{Coming Soon}//
117	117
118	118	**Open / Close**
119	119
120		-These are shortcut buttons to either fully open or fully close the gripper.
	97	+//{Coming Soon}//
121	121
122		-**Sequencer**
123		-
124		-The sequencer displays the gripper position as joint 7 (J7).
125		-
126		-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.
127		-
128	128	== 3D Model ==
129	129
130	130	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.
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131	131
132	132	**View Controls**
133	133
134		-Zoom: Shift + Middle Scroll
	105	+//{Coming Soon}//
135	135
136		-Rotate: Shift + Middle Mouse
137		-
138		-Pan: None
139		-
140	140	== Manual Move ==
141	141
142	142	**Angular Control**
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177	177
178	178	//{Coming Soon}//
179	179
180		-== Sequencer ==
	147	+== Sequencer ==
181	181
182	182	**Frames**
183	183
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191	191
192	192	Time, angles, gripper
193	193
194		-//Alt + Left Click = Drag time//
	161	+//{Coming Soon}//
195	195
196	196	**Reorder**
197	197