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26	26	|(% colspan="2" %)(((
27	27	= User Guide =
28	28	)))
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30	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:
31	31
32	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
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35	35	|(% colspan="2" %)(((
36	36	== IMPORTANT ==
37	37	)))
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39	39	=== Payload Considerations ===
40	40
41	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.
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43	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	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".
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47	47	=== Emergency ===
48	48
49	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:
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66	66	|(% colspan="2" %)(((
67	67	== Arm Connection ==
68	68	)))
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70	70	**Model**
71	71
72	72	The software currently supports the following Lynxmotion PRO Arms:
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89	89	|(% colspan="2" %)(((
90	90	== Gripper Controls ==
91	91	)))
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93	93	**Model**
94	94
95	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.
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107	107
108	108	**Baudrate**
109	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.
	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	111
112	112	**Initialize**
113	113
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135	135
136	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.
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	138	+|(% colspan="2" %)(((
	139	+== 3D Model ==
	140	+)))
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	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.
204	204
	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	+)))
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	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	+)))
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	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
	179	+* The commands are validated, and it shows a notification in case of error.
	180	+* The replies of queries are shown in the text field below.
	181	+)))
	182	+|(% colspan="2" %)(((
	183	+== Command Output ==
	184	+)))
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	186	+//{Coming Soon}//
	187	+)))
	188	+|(% colspan="2" %)(((
	189	+== Telemetry ==
	190	+)))
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	192	+**Data to Display**
	193	+
	194	+Various telemetry data can be retrieved from each actuators / joints, here is what the software support:
	195	+
	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
	207	+
	208	+**Display / Hide **
	209	+
	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	+)))
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	213	+== Sequencer ==
	214	+)))
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	216	+**Sequence**
	217	+
	218	+Add
	219	+
	220	+Substract
	221	+
	222	+Copy
	223	+
	224	+Save
	225	+
	226	+Open
	227	+
	228	+Delete
	229	+
	230	+//{Coming Soon}//
	231	+
	232	+**Frames**
	233	+
	234	+Add
	235	+
	236	+Sequence Selector
	237	+
	238	+Record
	239	+
	240	+Delete
	241	+
	242	+Copy
	243	+
	244	+Paste
	245	+
	246	+Swap
	247	+
	248	+Manual Edit
	249	+
	250	+Time, angles, gripper
	251	+
	252	+Moving Frames
	253	+
	254	+//Alt + Left Click = Drag time//
	255	+
	256	+//{Coming Soon}//
	257	+
	258	+**Errors**
	259	+
	260	+//{Coming Soon}//
	261	+)))
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	316	+
	317	+{{comment}}
205	205	= =
206	206
207	207	= User Guide =
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384	384	**Errors**
385	385
386	386	//{Coming Soon}//
	500	+{{/comment}}