Changes for page SES-PRO Robotic Arm UI

Last modified by Eric Nantel on 2024/10/16 14:33
From version < 27.1 >
edited by Eric Nantel
on 2024/10/09 16:05
To version < 47.1 >
edited by Eric Nantel
on 2024/10/16 12:22
< >
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1 -{{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"/}}
1 +{{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"/}}
2 2  
3 -[[image:lynxmotion-wiki-attachments.WebHome@ComingSoon.jpg]]
3 +[[[[image:lynxmotion-wiki-attachments.WebHome@DownloadNow.png]]>>https://lynxmotion.com/tools/ses-pro-app/lynxmotion_ses_pro_robotic_arm_ui_stable.exe]]
4 4  
5 5  **Table of Contents**
6 6  
7 7  {{toc/}}
8 8  
9 -= Installation =
10 -
11 -Windows 7 Operating System or above
12 -
13 13  = Description =
14 14  
15 -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 +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.
16 16  
17 17  = Features =
18 18  
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23 23  * Command output and user input
24 24  * Safety (Software E-Stop, Halt&Hold & Limp)
25 25  
22 +__Compatibility: Windows 7 Operating System or above__
23 +
26 26  |(% colspan="2" %)(((
27 27  = User Guide =
28 28  )))
29 29  |(% style="width:26px" %) |(% style="width:1452px" %)(((
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:
28 +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
33 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
32 +
33 +Pressing the i "Information" icon in the software will bring you to this page.
34 +
35 +[[image:ses-pro-robotic-arm-ui-info.png]]
34 34  )))
35 35  |(% colspan="2" %)(((
36 36  == IMPORTANT ==
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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:
50 50  
51 -**Halt & Hold**
53 +**Halt (and hold)**
52 52  
55 +**[[image:ses-pro-robotic-arm-ui-halt.png]]**
56 +
53 53  This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
54 54  
55 55  **Limp**
56 56  
61 +**[[image:ses-pro-robotic-arm-ui-limp.png]]**
62 +
57 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 58  
59 -**Software Stop**
65 +**Software E-Stop**
60 60  
61 -The E-stop button within the software sets all joints to limp.
67 +**[[image:ses-pro-robotic-arm-ui-arm-emergency.png]]**
62 62  
63 -**Hardware E-Stop**
69 +The E-stop button within the software sets all joints to limp, this can possibly cause the arm to fall.
70 +
71 +**Power Supply E-Stop**
64 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 65  )))
66 66  |(% colspan="2" %)(((
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69 69  |(% style="width:26px" %) |(% style="width:1452px" %)(((
70 70  **Model**
71 71  
80 +**[[image:ses-pro-robotic-arm-ui-arm-version.png]]**
81 +
72 72  The software currently supports the following Lynxmotion PRO Arms:
73 73  
74 74  * 550mm 5DoF
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80 80  
81 81  **COM Port**
82 82  
93 +**[[image:ses-pro-robotic-arm-ui-com.png]]**
94 +
83 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 84  
85 -**Connect**
97 +**Connect / Disconnect**
86 86  
99 +[[image:ses-pro-robotic-arm-ui-connect.png]]
100 +
101 +[[image:ses-pro-robotic-arm-ui-disconnect.png]]
102 +
87 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 88  )))
89 89  |(% colspan="2" %)(((
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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.
126 +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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191 191  |(% style="width:26px" %) |(% style="width:1452px" %)(((
192 192  **Data to Display**
193 193  
194 -//{Coming Soon}//
210 +Various telemetry data can be retrieved from each actuators / joints, here is what the software support:
195 195  
196 -**Display / Hide Actuator**
212 +* Position
213 +* Current
214 +* Linear Accel X
215 +* Linear Accel Y
216 +* Linear Accel Z
217 +* Angular Accel α
218 +* Angular Accel β
219 +* Angular Accel γ
220 +* MCU Temperature
221 +* PCB Temperature
222 +* Probe Temperature
197 197  
198 -//{Coming Soon}//
224 +**Display / Hide **
225 +
226 +At the bottom of the graphics you will find squares to activate / deactivate the desired actuator / joint to be displayed in the graph.
199 199  )))
200 200  |(% colspan="2" style="width:26px" %)(((
201 201  == Sequencer ==
202 202  )))
203 203  |(% style="width:26px" %) |(% style="width:1452px" %)(((
204 -**Frames**
232 +**Sequence**
205 205  
206 -//{Coming Soon}//
234 +Add
207 207  
208 -**Record **
236 +Substract
209 209  
238 +Copy
239 +
240 +Save
241 +
242 +Open
243 +
244 +Delete
245 +
210 210  //{Coming Soon}//
211 211  
212 -**Edit **
248 +**Frames**
213 213  
214 -Time, angles, gripper
250 +Add
215 215  
216 -//Alt + Left Click = Drag time//
252 +Sequence Selector
217 217  
218 -**Reorder**
254 +Record
219 219  
220 -//{Coming Soon}//
256 +Delete
221 221  
222 -**Play**
258 +Copy
223 223  
260 +Paste
261 +
262 +Swap
263 +
264 +Manual Edit
265 +
266 +Time, angles, gripper
267 +
268 +Moving Frames
269 +
270 +//Alt + Left Click = Drag time//
271 +
224 224  //{Coming Soon}//
225 225  
226 226  **Errors**
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282 282  |(% style="width:26px" %) |(% style="width:1452px" %)
283 283  |(% style="width:26px" %) |(% style="width:1452px" %)
284 284  
285 -
286 286  {{comment}}
287 287  = =
288 288  
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