Summary

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  • LSS-PRO-UI.png
  • ses-pro-robotic-arm-ui-installer.zip
  • SES-PRO-Robotic-Arm-UI.png
  • ses-pro-robotic-arm-ui-arm-emergency.png
  • ses-pro-robotic-arm-ui-arm-version.png
  • ses-pro-robotic-arm-ui-com.png
  • ses-pro-robotic-arm-ui-connect.png
  • ses-pro-robotic-arm-ui-disconnect.png
  • ses-pro-robotic-arm-ui-halt.png
  • ses-pro-robotic-arm-ui-info.png
  • ses-pro-robotic-arm-ui-limp.png

Details

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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	+
	24	+
	25	+|(% colspan="3" %)(((
	26	+= User Guide =
	27	+)))
	28	+|(% 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.
	29	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	30	+Before proceeding with the guide, it is important to note the following:
	31	+
	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" rowspan="1" %)(((
	36	+== IMPORTANT ==
	37	+)))
	38	+| |(% colspan="2" rowspan="1" %)(((
	39	+=== Payload Considerations ===
	40	+)))
	41	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	42	+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.
	43	+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.
	44	+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.
	45	+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".
	46	+)))
	47	+| |(% colspan="2" rowspan="1" %)(((
	48	+=== Emergency ===
	49	+)))
	50	+| |(% 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.
	51	+The following emergency options are available based on severity:
	52	+| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-halt.png]]|(((
	53	+**Halt (and hold)**
	54	+
	55	+This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
	56	+)))
	57	+| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-limp.png]]|(((
	58	+**Limp**
	59	+
	60	+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>.
	61	+)))
	62	+| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-emergency.png]]|(((
	63	+**Software E-Stop**
	64	+
	65	+The E-stop button within the software sets all joints to limp, this can possibly cause the arm to fall.
	66	+)))
	67	+| |(% style="text-align:center; vertical-align:middle" %) |(((
	68	+**Power Supply E-Stop**
	69	+
	70	+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.
	71	+)))
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	112	+
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:
	117	+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
	121	+
	122	+Pressing the i "Information" icon in the software will bring you to this page.
	123	+
	124	+[[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**
	142	+**Halt (and hold)**
52	52
	144	+**[[image:ses-pro-robotic-arm-ui-halt.png]]**
	145	+
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
	150	+**[[image:ses-pro-robotic-arm-ui-limp.png]]**
	151	+
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**
	154	+**Software E-Stop**
60	60
61		-The E-stop button within the software sets all joints to limp.
	156	+**[[image:ses-pro-robotic-arm-ui-arm-emergency.png]]**
62	62
63		-**Hardware E-Stop**
	158	+The E-stop button within the software sets all joints to limp, this can possibly cause the arm to fall.
	159	+
	160	+**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
	169	+**[[image:ses-pro-robotic-arm-ui-arm-version.png]]**
	170	+
72	72	The software currently supports the following Lynxmotion PRO Arms:
73	73
74	74	* 550mm 5DoF
...	...	@@ -80,10 +80,16 @@
80	80
81	81	**COM Port**
82	82
	182	+**[[image:ses-pro-robotic-arm-ui-com.png]]**
	183	+
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**
	186	+**Connect / Disconnect**
86	86
	188	+[[image:ses-pro-robotic-arm-ui-connect.png]]
	189	+
	190	+[[image:ses-pro-robotic-arm-ui-disconnect.png]]
	191	+
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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191	191	|(% style="width:26px" %) |(% style="width:1452px" %)(((
192	192	**Data to Display**
193	193
	299	+Various telemetry data can be retrieved from each actuators / joints, here is what the software support:
	300	+
194	194	* Position
195	195	* Current
196	196	* Linear Accel X
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203	203	* PCB Temperature
204	204	* Probe Temperature
205	205
206		-**Display / Hide Actuator**
	313	+**Display / Hide **
207	207
208		-//{Coming Soon}//
	315	+At the bottom of the graphics you will find squares to activate / deactivate the desired actuator / joint to be displayed in the graph.
209	209	)))
210	210	|(% colspan="2" style="width:26px" %)(((
211	211	== Sequencer ==
212	212	)))
213	213	|(% style="width:26px" %) |(% style="width:1452px" %)(((
214		-**Frames**
	321	+**Sequence**
215	215
216		-//{Coming Soon}//
	323	+Add
217	217
218		-**Record **
	325	+Substract
219	219
	327	+Copy
	328	+
	329	+Save
	330	+
	331	+Open
	332	+
	333	+Delete
	334	+
220	220	//{Coming Soon}//
221	221
222		-**Edit **
	337	+**Frames**
223	223
224		-Time, angles, gripper
	339	+Add
225	225
226		-//Alt + Left Click = Drag time//
	341	+Sequence Selector
227	227
228		-**Reorder**
	343	+Record
229	229
230		-//{Coming Soon}//
	345	+Delete
231	231
232		-**Play**
	347	+Copy
233	233
	349	+Paste
	350	+
	351	+Swap
	352	+
	353	+Manual Edit
	354	+
	355	+Time, angles, gripper
	356	+
	357	+Moving Frames
	358	+
	359	+//Alt + Left Click = Drag time//
	360	+
234	234	//{Coming Soon}//
235	235
236	236	**Errors**

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