Changes for page SES-PRO Robotic Arm UI

Last modified by Eric Nantel on 2024/10/16 14:33
From version < 28.1 >
edited by Eric Nantel
on 2024/10/09 16:24
To version < 54.1 >
edited by Eric Nantel
on 2024/10/16 13:08
< >
Change comment: There is no comment for this version

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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  
... ... @@ -23,50 +23,60 @@
23 23  * Command output and user input
24 24  * Safety (Software E-Stop, Halt&Hold & Limp)
25 25  
26 -|(% colspan="2" %)(((
22 +__Compatibility: Windows 7 Operating System or above__
23 +
24 +
25 +|(% colspan="3" %)(((
27 27  = User Guide =
28 28  )))
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 +|(% style="width:25px" %) |(% colspan="2" rowspan="1" style="width:100px" %)(((
29 +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
34 34  )))
35 -|(% colspan="2" %)(((
34 +| |(% style="text-align:center; vertical-align:middle; width:125px" %)[[image:ses-pro-robotic-arm-ui-info.png]]|Pressing the i "Information" icon in the software will bring you to this page.
35 +| |(% colspan="2" rowspan="1" %)(((
36 36  == IMPORTANT ==
37 37  )))
38 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
38 +| |(% colspan="2" rowspan="1" %)(((
39 39  === Payload Considerations ===
40 -
40 +)))
41 +| |(% colspan="2" rowspan="1" %)(((
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.
42 42  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.
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".
45 45  )))
46 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
47 +| |(% colspan="2" rowspan="1" %)(((
47 47  === Emergency ===
49 +)))
50 +| |(% colspan="2" rowspan="1" %)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)**
48 48  
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 -
51 -**Halt & Hold**
52 -
53 53  This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
54 -
56 +)))
57 +| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-limp.png]]|(((
55 55  **Limp**
56 56  
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>.
61 +)))
62 +| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-emergency.png]]|(((
63 +**Software E-Stop**
58 58  
59 -**Software Stop**
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**
60 60  
61 -The E-stop button within the software sets all joints to limp.
62 -
63 -**Hardware 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 -|(% colspan="2" %)(((
72 +| |(% colspan="2" rowspan="1" %)(((
67 67  == Arm Connection ==
68 68  )))
69 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
75 +| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version.png]]|(((
70 70  **Model**
71 71  
72 72  The software currently supports the following Lynxmotion PRO Arms:
... ... @@ -77,23 +77,30 @@
77 77  * 900mm 6DoF
78 78  
79 79  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.
80 -
86 +)))
87 +| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-com.png]]|(((
81 81  **COM Port**
82 82  
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. 
90 +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.
91 +)))
92 +| |(% style="text-align:center; vertical-align:middle" %)(((
93 +[[image:ses-pro-robotic-arm-ui-connect.png]]
84 84  
85 -**Connect**
95 +[[image:ses-pro-robotic-arm-ui-disconnect.png]]
96 +)))|(((
97 +**Connect / Disconnect**
86 86  
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 -|(% colspan="2" %)(((
101 +| |(% colspan="2" rowspan="1" %)(((
90 90  == Gripper Controls ==
91 91  )))
92 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
104 +| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version-drop.png]]|(((
93 93  **Model**
94 94  
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.
96 -
107 +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 G.
108 +)))
109 +| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version.png]]|(((
97 97  * PGE-50-40 (40mm default configuration)
98 98  * PGE-50-40 (60mm configuration)
99 99  * PGE-50-40 (80mm configuration)
... ... @@ -100,47 +100,56 @@
100 100  * CGE-10-10 (20mm configuration)
101 101  * CGE-10-10 (40mm configuration)
102 102  * CGE-10-10 (60mm configuration)
103 -
116 +)))
117 +| |(% style="text-align:center; vertical-align:middle" %) |(((
104 104  **COM Port**
105 105  
106 106  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
107 -
121 +)))
122 +| |(% style="text-align:center; vertical-align:middle" %) |(((
108 108  **Baudrate**
109 109  
110 110  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 -
126 +)))
127 +| |(% style="text-align:center; vertical-align:middle" %) |(((
112 112  **Initialize**
113 113  
114 114  Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
115 -
131 +)))
132 +| |(% style="text-align:center; vertical-align:middle" %) |(((
116 116  **Connect**
117 117  
118 118  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.
119 -
136 +)))
137 +| |(% style="text-align:center; vertical-align:middle" %) |(((
120 120  **Speed**
121 121  
122 122  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.
123 -
141 +)))
142 +| |(% style="text-align:center; vertical-align:middle" %) |(((
124 124  **Force**
125 125  
126 126  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.
127 -
146 +)))
147 +| |(% style="text-align:center; vertical-align:middle" %) |(((
128 128  **Open / Close**
129 129  
130 130  These are shortcut buttons to either fully open or fully close the gripper.
131 -
151 +)))
152 +| |(% style="text-align:center; vertical-align:middle" %) |(((
132 132  **Sequencer**
133 133  
134 -The sequencer displays the gripper position as joint 7 (J7).
155 +The sequencer displays the gripper position as joint G.
135 135  
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.
157 +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 G moves.
137 137  )))
138 -|(% colspan="2" %)(((
159 +| |(% colspan="2" rowspan="1" %)(((
139 139  == 3D Model ==
140 140  )))
141 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
162 +| |(% colspan="2" rowspan="1" %)(((
142 142  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.
143 -
164 +)))
165 +| |(% style="text-align:center; vertical-align:middle" %) |(((
144 144  **View Controls**
145 145  
146 146  Zoom: Shift + Middle Scroll
... ... @@ -149,46 +149,42 @@
149 149  
150 150  Pan: None
151 151  )))
152 -|(% colspan="2" %)(((
174 +| |(% colspan="2" rowspan="1" %)(((
153 153  == Manual Move ==
154 154  )))
155 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
177 +| |(% style="text-align:center; vertical-align:middle" %) |(((
156 156  **Angular Control**
157 157  
158 158  In angular mode, the user can control the angle of each joint
159 -
181 +)))
182 +| |(% style="text-align:center; vertical-align:middle" %) |(((
160 160  **Coordinates Control**
161 161  
162 162  In coordinate control the user can control the cartesian position of the end effector
163 -
186 +)))
187 +| |(% style="text-align:center; vertical-align:middle" %) |(((
164 164  **End Effector Lock**
165 165  
166 166  The orientation of the end effector can be locked.
167 167  )))
168 -|(% colspan="2" %)(((
192 +| |(% colspan="2" rowspan="1" %)(((
169 169  == Direct Command ==
170 170  )))
171 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
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.
195 +| |(% colspan="2" rowspan="1" %)(((
196 +This section allow the user to send commands using the [[LSS-PRO Communication Protocol>>url:https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-pro/lss-pro/lss-p-communication-protocol/]] directly if required.
173 173  
174 174  A few things to keep in mind when using this:
175 175  
176 -* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
200 +* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
177 177  * Sending commands does not require ‘#’ and ‘\r’ chars.
178 178  ** example for #2\r you should enter 2Q and press the "SEND" button
179 179  * The commands are validated, and it shows a notification in case of error.
180 180  * The replies of queries are shown in the text field below.
181 181  )))
182 -|(% colspan="2" %)(((
183 -== Command Output ==
184 -)))
185 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
186 -//{Coming Soon}//
187 -)))
188 -|(% colspan="2" %)(((
206 +| |(% colspan="2" rowspan="1" %)(((
189 189  == Telemetry ==
190 190  )))
191 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
209 +| |(% style="text-align:center; vertical-align:middle" %) |(((
192 192  **Data to Display**
193 193  
194 194  Various telemetry data can be retrieved from each actuators / joints, here is what the software support:
... ... @@ -204,116 +204,121 @@
204 204  * MCU Temperature
205 205  * PCB Temperature
206 206  * Probe Temperature
207 -
225 +)))
226 +| |(% style="text-align:center; vertical-align:middle" %) |(((
208 208  **Display / Hide **
209 209  
210 210  At the bottom of the graphics you will find squares to activate / deactivate the desired actuator / joint to be displayed in the graph.
211 211  )))
212 -|(% colspan="2" style="width:26px" %)(((
231 +| |(% colspan="2" rowspan="1" %)(((
213 213  == Sequencer ==
214 214  )))
215 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
216 -**Sequence**
234 +| |(% colspan="2" rowspan="1" %)**Sequence**
235 +| |(% style="text-align:center; vertical-align:middle" %) |(((
236 +**Sequence Selector**
217 217  
218 -Add
238 +
239 +)))
240 +| |(% style="text-align:center; vertical-align:middle" %) |(((
241 +**Add**
219 219  
220 -Substract
243 +
244 +)))
245 +| |(% style="text-align:center; vertical-align:middle" %) |(((
246 +**Substract**
221 221  
222 -Copy
248 +
249 +)))
250 +| |(% style="text-align:center; vertical-align:middle" %) |(((
251 +**Copy**
223 223  
224 -Save
253 +
254 +)))
255 +| |(% style="text-align:center; vertical-align:middle" %) |(((
256 +**Save**
225 225  
226 -Open
258 +
259 +)))
260 +| |(% style="text-align:center; vertical-align:middle" %) |(((
261 +**Open**
227 227  
228 -Delete
263 +
264 +)))
265 +| |(% style="text-align:center; vertical-align:middle" %) |(((
266 +**Delete**
229 229  
230 -//{Coming Soon}//
268 +
269 +)))
270 +| |(% colspan="2" rowspan="1" %)**Frames**
271 +| |(% style="text-align:center; vertical-align:middle" %) |(((
272 +**Add**
231 231  
232 -**Frames**
274 +
275 +)))
276 +| |(% style="text-align:center; vertical-align:middle" %) |(((
277 +**Sequence Selector**
233 233  
234 -Add
279 +
280 +)))
281 +| |(% style="text-align:center; vertical-align:middle" %) |(((
282 +**Record**
235 235  
236 -Sequence Selector
284 +
285 +)))
286 +| |(% style="text-align:center; vertical-align:middle" %) |(((
287 +**Delete**
237 237  
238 -Record
289 +
290 +)))
291 +| |(% style="text-align:center; vertical-align:middle" %) |(((
292 +**Copy**
239 239  
240 -Delete
294 +
295 +)))
296 +| |(% style="text-align:center; vertical-align:middle" %) |(((
297 +**Paste**
241 241  
242 -Copy
299 +
300 +)))
301 +| |(% style="text-align:center; vertical-align:middle" %) |(((
302 +**Swap**
243 243  
244 -Paste
304 +
305 +)))
306 +| |(% style="text-align:center; vertical-align:middle" %) |(((
307 +**Frame Name**
245 245  
246 -Swap
309 +
310 +)))
311 +| |(% style="text-align:center; vertical-align:middle" %) |(((
312 +**Frame length**
247 247  
248 -Manual Edit
249 -
250 -Time, angles, gripper
251 -
252 -Moving Frames
253 -
254 254  //Alt + Left Click = Drag time//
315 +)))
316 +| |(% style="text-align:center; vertical-align:middle" %) |(((
317 +**Frame Move**
255 255  
256 -//{Coming Soon}//
319 +
320 +)))
321 +| |(% style="text-align:center; vertical-align:middle" %) |(((
322 +**Loop**
257 257  
258 -**Errors**
324 +
325 +)))
326 +| |(% style="text-align:center; vertical-align:middle" %) |(((
327 +**Manual Edit**
259 259  
260 -//{Coming Soon}//
329 +Time, angles, gripper
261 261  )))
262 -|(% style="width:26px" %) |(% style="width:1452px" %)
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331 +| |(% style="text-align:center; vertical-align:middle" %) |(((
332 +**Zoom**
316 316  
334 +
335 +)))
336 +| |(% colspan="2" rowspan="1" %)**Errors**
337 +| |(% style="text-align:center; vertical-align:middle" %) |
338 +| |(% style="text-align:center; vertical-align:middle" %) |
339 +
317 317  {{comment}}
318 318  = =
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LSS-PRO-UI.png
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