Changes for page SES-PRO Robotic Arm UI

Last modified by Eric Nantel on 2024/10/16 14:33

From version < 26.1 >

edited by Eric Nantel
on 2024/10/09 16:04

To version < 48.1 >

edited by Eric Nantel
on 2024/10/16 12:29

< >

Change comment: There is no comment for this version

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--{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/ses-pro-software/ses-pro-arm-ui/WebHome/LSS-PRO-UI.png" width="350"/}}
++{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/ses-pro-software/ses-pro-arm-ui/WebHome/SES-PRO-Robotic-Arm-UI.png" width="350"/}}
--[[image:lynxmotion-wiki-attachments.WebHome@ComingSoon.jpg]]
++[[[[image:lynxmotion-wiki-attachments.WebHome@DownloadNow.png]]>>https://lynxmotion.com/tools/ses-pro-app/lynxmotion_ses_pro_robotic_arm_ui_stable.exe]]
  **Table of Contents**
  {{toc/}}
--= Installation =
--
--Windows 7 Operating System or above
--
  = Description =
--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.
++The Lynxmotion Servo Erector Set Professional (SES PRO) Robotic Arm User Interface (UI) 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.
  = Features =
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  * Command output and user input
  * Safety (Software E-Stop, Halt&Hold & Limp)
++__Compatibility: Windows 7 Operating System or above__
++
++
++|(% colspan="3" %)(((
++= User Guide =
++)))
++|(% style="width:25px" %) |(% style="text-align:center; vertical-align:middle; width:100px" %)[[image:ses-pro-robotic-arm-ui-info.png]]|Pressing the i "Information" icon in the software will bring you to this page.
++| |(% style="text-align:center; vertical-align:middle" %) |(((
++Before proceeding with the guide, it is important to note the following:
++
++* 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
++* 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
++)))
++| |(% colspan="2" rowspan="1" %)(((
++== IMPORTANT ==
++)))
++| |(% colspan="2" rowspan="1" %)(((
++=== Payload Considerations ===
++)))
++| |(% style="text-align:center; vertical-align:middle" %) |(((
++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.
++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.
++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.
++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".
++)))
++| |(% colspan="2" rowspan="1" %)(((
++=== Emergency ===
++)))
++| |(% style="text-align:center; vertical-align:middle" %) |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:
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-halt.png]]|(((
++**Halt (and hold)**
++
++This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
++)))
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-limp.png]]|(((
++**Limp**
++
++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>.
++)))
++| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-emergency.png]]|(((
++**Software E-Stop**
++
++The E-stop button within the software sets all joints to limp, this can possibly cause the arm to fall.
++)))
++| |(% style="text-align:center; vertical-align:middle" %) |(((
++**Power Supply E-Stop**
++
++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.
++)))
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++
++
  |(% colspan="2" %)(((
  = User Guide =
  )))
  |(% style="width:26px" %) |(% style="width:1452px" %)(((
--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:
++Before proceeding with the guide, it is important to note the following:
  * 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
  * 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
++
++Pressing the i "Information" icon in the software will bring you to this page.
++
++[[image:ses-pro-robotic-arm-ui-info.png]]
  )))
  |(% colspan="2" %)(((
  == IMPORTANT ==
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  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:
--**Halt & Hold**
++**Halt (and hold)**
++**[[image:ses-pro-robotic-arm-ui-halt.png]]**
++
  This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
  **Limp**
++**[[image:ses-pro-robotic-arm-ui-limp.png]]**
++
  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>.
--**Software Stop**
++**Software E-Stop**
--The E-stop button within the software sets all joints to limp.
++**[[image:ses-pro-robotic-arm-ui-arm-emergency.png]]**
--**Hardware E-Stop**
++The E-stop button within the software sets all joints to limp, this can possibly cause the arm to fall.
++
++**Power Supply E-Stop**
  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.
  )))
  |(% colspan="2" %)(((
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  |(% style="width:26px" %) |(% style="width:1452px" %)(((
  **Model**
++**[[image:ses-pro-robotic-arm-ui-arm-version.png]]**
++
  The software currently supports the following Lynxmotion PRO Arms:
  * 550mm 5DoF
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  **COM Port**
++**[[image:ses-pro-robotic-arm-ui-com.png]]**
++
  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.
--**Connect**
++**Connect / Disconnect**
++[[image:ses-pro-robotic-arm-ui-connect.png]]
++
++[[image:ses-pro-robotic-arm-ui-disconnect.png]]
++
  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.
  )))
  |(% colspan="2" %)(((
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  **Baudrate**
--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.
++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.
  **Initialize**
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  |(% style="width:26px" %) |(% style="width:1452px" %)(((
  **Data to Display**
--//{Coming Soon}//
++Various telemetry data can be retrieved from each actuators / joints, here is what the software support:
--**Display / Hide Actuator**
++* Position
++* Current
++* Linear Accel X
++* Linear Accel Y
++* Linear Accel Z
++* Angular Accel α
++* Angular Accel β
++* Angular Accel γ
++* MCU Temperature
++* PCB Temperature
++* Probe Temperature
--//{Coming Soon}//
++**Display / Hide **
++
++At the bottom of the graphics you will find squares to activate / deactivate the desired actuator / joint to be displayed in the graph.
  )))
  |(% colspan="2" style="width:26px" %)(((
  == Sequencer ==
  )))
  |(% style="width:26px" %) |(% style="width:1452px" %)(((
--**Frames**
++**Sequence**
--//{Coming Soon}//
++Add
--**Record **
++Substract
++Copy
++
++Save
++
++Open
++
++Delete
++
  //{Coming Soon}//
--**Edit **
++**Frames**
--Time, angles, gripper
++Add
--//Alt + Left Click = Drag time//
++Sequence Selector
--**Reorder**
++Record
--//{Coming Soon}//
++Delete
--**Play**
++Copy
++Paste
++
++Swap
++
++Manual Edit
++
++Time, angles, gripper
++
++Moving Frames
++
++//Alt + Left Click = Drag time//
++
  //{Coming Soon}//
  **Errors**
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  |(% style="width:26px" %) |(% style="width:1452px" %)
  |(% style="width:26px" %) |(% style="width:1452px" %)
++{{comment}}
  =   =
  = User Guide =
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          +464,4 @@
  **Errors**
  //{Coming Soon}//
++{{/comment}}

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