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6	6
7	7	{{toc/}}
8	8
	9	+= Installation =
	10	+
	11	+Windows 7 Operating System or above
	12	+
9	9	= Description =
10	10
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.
	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.
12	12
13	13	= Features =
14	14
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19	19	* Command output and user input
20	20	* Safety (Software E-Stop, Halt&Hold & Limp)
21	21
22		-__Compatibility: Windows 7 Operating System or above__
23		-
24	24	|(% colspan="2" %)(((
25	25	= User Guide =
26	26	)))
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	29	+|(% style="width:25px" %) |(((
28	28	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:
29	29
30	30	* 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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33	33	|(% colspan="2" %)(((
34	34	== IMPORTANT ==
35	35	)))
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	38	+| |(((
37	37	=== Payload Considerations ===
38	38
39	39	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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41	41	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.
42	42	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".
43	43	)))
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	46	+| |(((
45	45	=== Emergency ===
46	46
47	47	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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64	64	|(% colspan="2" %)(((
65	65	== Arm Connection ==
66	66	)))
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	69	+| |(((
68	68	**Model**
69	69
70	70	The software currently supports the following Lynxmotion PRO Arms:
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87	87	|(% colspan="2" %)(((
88	88	== Gripper Controls ==
89	89	)))
90		-|(% style="width:26px" %) |(% style="width:1452px" %)(((
	92	+| |(((
91	91	**Model**
92	92
93	93	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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105	105
106	106	**Baudrate**
107	107
108		-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.
	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.
109	109
110	110	**Initialize**
111	111
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136	136	|(% colspan="2" %)(((
137	137	== 3D Model ==
138	138	)))
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	141	+| |(((
140	140	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.
141	141
142	142	**View Controls**
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150	150	|(% colspan="2" %)(((
151	151	== Manual Move ==
152	152	)))
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	155	+| |(((
154	154	**Angular Control**
155	155
156	156	In angular mode, the user can control the angle of each joint
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166	166	|(% colspan="2" %)(((
167	167	== Direct Command ==
168	168	)))
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	171	+| |(((
170	170	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.
171	171
172	172	A few things to keep in mind when using this:
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177	177	* The commands are validated, and it shows a notification in case of error.
178	178	* The replies of queries are shown in the text field below.
179	179	)))
180		-|(% colspan="2" %)(((
181		-== Command Output ==
182		-)))
183		-|(% style="width:26px" %) |(% style="width:1452px" %)(((
184		-//{Coming Soon}//
185		-)))
186		-|(% colspan="2" %)(((
187		-== Telemetry ==
188		-)))
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190		-**Data to Display**
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191	191
192		-Various telemetry data can be retrieved from each actuators / joints, here is what the software support:
193		-
194		-* Position
195		-* Current
196		-* Linear Accel X
197		-* Linear Accel Y
198		-* Linear Accel Z
199		-* Angular Accel α
200		-* Angular Accel β
201		-* Angular Accel γ
202		-* MCU Temperature
203		-* PCB Temperature
204		-* Probe Temperature
205		-
206		-**Display / Hide **
207		-
208		-At the bottom of the graphics you will find squares to activate / deactivate the desired actuator / joint to be displayed in the graph.
209		-)))
210		-|(% colspan="2" style="width:26px" %)(((
211		-== Sequencer ==
212		-)))
213		-|(% style="width:26px" %) |(% style="width:1452px" %)(((
214		-**Sequence**
215		-
216		-Add
217		-
218		-Substract
219		-
220		-Copy
221		-
222		-Save
223		-
224		-Open
225		-
226		-Delete
227		-
228		-//{Coming Soon}//
229		-
230		-**Frames**
231		-
232		-Add
233		-
234		-Sequence Selector
235		-
236		-Record
237		-
238		-Delete
239		-
240		-Copy
241		-
242		-Paste
243		-
244		-Swap
245		-
246		-Manual Edit
247		-
248		-Time, angles, gripper
249		-
250		-Moving Frames
251		-
252		-//Alt + Left Click = Drag time//
253		-
254		-//{Coming Soon}//
255		-
256		-**Errors**
257		-
258		-//{Coming Soon}//
259		-)))
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314		-
315		-{{comment}}
316	316	= =
317	317
318	318	= User Guide =
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495	495	**Errors**
496	496
497	497	//{Coming Soon}//
498		-{{/comment}}