Changes for page SES-PRO Robotic Arm UI

Last modified by Eric Nantel on 2024/10/16 14:33
From version < 44.1 >
edited by Eric Nantel
on 2024/10/16 12:21
To version < 56.1 >
edited by Eric Nantel
on 2024/10/16 13:31
< >
Change comment: Uploaded new attachment "ses-pro-robotic-arm-ui-gripper-version.png", version {1}

Summary

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21 21  
22 22  __Compatibility: Windows 7 Operating System or above__
23 23  
24 -|(% colspan="2" %)(((
24 +
25 +|(% colspan="3" %)(((
25 25  = User Guide =
26 26  )))
27 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
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:
28 +|(% style="width:25px" %) |(% colspan="2" rowspan="1" style="width:100px" %)(((
29 +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
31 31  * 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 32  )))
33 -|(% 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" %)(((
34 34  == IMPORTANT ==
35 35  )))
36 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
38 +| |(% colspan="2" rowspan="1" %)(((
37 37  === Payload Considerations ===
38 -
40 +)))
41 +| |(% colspan="2" rowspan="1" %)(((
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.
40 40  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.
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  )))
44 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
47 +| |(% colspan="2" rowspan="1" %)(((
45 45  === 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)**
46 46  
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:
48 -
49 -**Halt & Hold**
50 -
51 51  This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
52 -
56 +)))
57 +| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-limp.png]]|(((
53 53  **Limp**
54 54  
55 55  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**
56 56  
57 -**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**
58 58  
59 -The E-stop button within the software sets all joints to limp.
60 -
61 -**Hardware E-Stop**
62 62  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.
63 63  )))
64 -|(% colspan="2" %)(((
72 +| |(% colspan="2" rowspan="1" %)(((
65 65  == Arm Connection ==
66 66  )))
67 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
75 +| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version.png]]|(((
68 68  **Model**
69 69  
70 70  The software currently supports the following Lynxmotion PRO Arms:
... ... @@ -75,23 +75,30 @@
75 75  * 900mm 6DoF
76 76  
77 77  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.
78 -
86 +)))
87 +| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-com.png]]|(((
79 79  **COM Port**
80 80  
81 -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]]
82 82  
83 -**Connect**
95 +[[image:ses-pro-robotic-arm-ui-disconnect.png]]
96 +)))|(((
97 +**Connect / Disconnect**
84 84  
85 85  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.
86 86  )))
87 -|(% colspan="2" %)(((
101 +| |(% colspan="2" rowspan="1" %)(((
88 88  == Gripper Controls ==
89 89  )))
90 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
104 +| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version-drop.png]]|(((
91 91  **Model**
92 92  
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.
94 -
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]]|(((
95 95  * PGE-50-40 (40mm default configuration)
96 96  * PGE-50-40 (60mm configuration)
97 97  * PGE-50-40 (80mm configuration)
... ... @@ -98,47 +98,56 @@
98 98  * CGE-10-10 (20mm configuration)
99 99  * CGE-10-10 (40mm configuration)
100 100  * CGE-10-10 (60mm configuration)
101 -
116 +)))
117 +| |(% style="text-align:center; vertical-align:middle" %) |(((
102 102  **COM Port**
103 103  
104 104  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
105 -
121 +)))
122 +| |(% style="text-align:center; vertical-align:middle" %) |(((
106 106  **Baudrate**
107 107  
108 108  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.
109 -
126 +)))
127 +| |(% style="text-align:center; vertical-align:middle" %) |(((
110 110  **Initialize**
111 111  
112 112  Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
113 -
131 +)))
132 +| |(% style="text-align:center; vertical-align:middle" %) |(((
114 114  **Connect**
115 115  
116 116  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.
117 -
136 +)))
137 +| |(% style="text-align:center; vertical-align:middle" %) |(((
118 118  **Speed**
119 119  
120 120  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.
121 -
141 +)))
142 +| |(% style="text-align:center; vertical-align:middle" %) |(((
122 122  **Force**
123 123  
124 124  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.
125 -
146 +)))
147 +| |(% style="text-align:center; vertical-align:middle" %) |(((
126 126  **Open / Close**
127 127  
128 128  These are shortcut buttons to either fully open or fully close the gripper.
129 -
151 +)))
152 +| |(% style="text-align:center; vertical-align:middle" %) |(((
130 130  **Sequencer**
131 131  
132 -The sequencer displays the gripper position as joint 7 (J7).
155 +The sequencer displays the gripper position as joint G.
133 133  
134 -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.
135 135  )))
136 -|(% colspan="2" %)(((
159 +| |(% colspan="2" rowspan="1" %)(((
137 137  == 3D Model ==
138 138  )))
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162 +| |(% colspan="2" rowspan="1" %)(((
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 -
164 +)))
165 +| |(% style="text-align:center; vertical-align:middle" %) |(((
142 142  **View Controls**
143 143  
144 144  Zoom: Shift + Middle Scroll
... ... @@ -147,46 +147,42 @@
147 147  
148 148  Pan: None
149 149  )))
150 -|(% colspan="2" %)(((
174 +| |(% colspan="2" rowspan="1" %)(((
151 151  == Manual Move ==
152 152  )))
153 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
177 +| |(% style="text-align:center; vertical-align:middle" %) |(((
154 154  **Angular Control**
155 155  
156 156  In angular mode, the user can control the angle of each joint
157 -
181 +)))
182 +| |(% style="text-align:center; vertical-align:middle" %) |(((
158 158  **Coordinates Control**
159 159  
160 160  In coordinate control the user can control the cartesian position of the end effector
161 -
186 +)))
187 +| |(% style="text-align:center; vertical-align:middle" %) |(((
162 162  **End Effector Lock**
163 163  
164 164  The orientation of the end effector can be locked.
165 165  )))
166 -|(% colspan="2" %)(((
192 +| |(% colspan="2" rowspan="1" %)(((
167 167  == Direct Command ==
168 168  )))
169 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
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.
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.
171 171  
172 172  A few things to keep in mind when using this:
173 173  
174 -* 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.
175 175  * Sending commands does not require ‘#’ and ‘\r’ chars.
176 176  ** example for #2\r you should enter 2Q and press the "SEND" button
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" %)(((
206 +| |(% colspan="2" rowspan="1" %)(((
187 187  == Telemetry ==
188 188  )))
189 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
209 +| |(% style="text-align:center; vertical-align:middle" %) |(((
190 190  **Data to Display**
191 191  
192 192  Various telemetry data can be retrieved from each actuators / joints, here is what the software support:
... ... @@ -202,116 +202,121 @@
202 202  * MCU Temperature
203 203  * PCB Temperature
204 204  * Probe Temperature
205 -
225 +)))
226 +| |(% style="text-align:center; vertical-align:middle" %) |(((
206 206  **Display / Hide **
207 207  
208 208  At the bottom of the graphics you will find squares to activate / deactivate the desired actuator / joint to be displayed in the graph.
209 209  )))
210 -|(% colspan="2" style="width:26px" %)(((
231 +| |(% colspan="2" rowspan="1" %)(((
211 211  == Sequencer ==
212 212  )))
213 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
214 -**Sequence**
234 +| |(% colspan="2" rowspan="1" %)**Sequence**
235 +| |(% style="text-align:center; vertical-align:middle" %) |(((
236 +**Sequence Selector**
215 215  
216 -Add
238 +
239 +)))
240 +| |(% style="text-align:center; vertical-align:middle" %) |(((
241 +**Add**
217 217  
218 -Substract
243 +
244 +)))
245 +| |(% style="text-align:center; vertical-align:middle" %) |(((
246 +**Substract**
219 219  
220 -Copy
248 +
249 +)))
250 +| |(% style="text-align:center; vertical-align:middle" %) |(((
251 +**Copy**
221 221  
222 -Save
253 +
254 +)))
255 +| |(% style="text-align:center; vertical-align:middle" %) |(((
256 +**Save**
223 223  
224 -Open
258 +
259 +)))
260 +| |(% style="text-align:center; vertical-align:middle" %) |(((
261 +**Open**
225 225  
226 -Delete
263 +
264 +)))
265 +| |(% style="text-align:center; vertical-align:middle" %) |(((
266 +**Delete**
227 227  
228 -//{Coming Soon}//
268 +
269 +)))
270 +| |(% colspan="2" rowspan="1" %)**Frames**
271 +| |(% style="text-align:center; vertical-align:middle" %) |(((
272 +**Add**
229 229  
230 -**Frames**
274 +
275 +)))
276 +| |(% style="text-align:center; vertical-align:middle" %) |(((
277 +**Sequence Selector**
231 231  
232 -Add
279 +
280 +)))
281 +| |(% style="text-align:center; vertical-align:middle" %) |(((
282 +**Record**
233 233  
234 -Sequence Selector
284 +
285 +)))
286 +| |(% style="text-align:center; vertical-align:middle" %) |(((
287 +**Delete**
235 235  
236 -Record
289 +
290 +)))
291 +| |(% style="text-align:center; vertical-align:middle" %) |(((
292 +**Copy**
237 237  
238 -Delete
294 +
295 +)))
296 +| |(% style="text-align:center; vertical-align:middle" %) |(((
297 +**Paste**
239 239  
240 -Copy
299 +
300 +)))
301 +| |(% style="text-align:center; vertical-align:middle" %) |(((
302 +**Swap**
241 241  
242 -Paste
304 +
305 +)))
306 +| |(% style="text-align:center; vertical-align:middle" %) |(((
307 +**Frame Name**
243 243  
244 -Swap
309 +
310 +)))
311 +| |(% style="text-align:center; vertical-align:middle" %) |(((
312 +**Frame length**
245 245  
246 -Manual Edit
247 -
248 -Time, angles, gripper
249 -
250 -Moving Frames
251 -
252 252  //Alt + Left Click = Drag time//
315 +)))
316 +| |(% style="text-align:center; vertical-align:middle" %) |(((
317 +**Frame Move**
253 253  
254 -//{Coming Soon}//
319 +
320 +)))
321 +| |(% style="text-align:center; vertical-align:middle" %) |(((
322 +**Loop**
255 255  
256 -**Errors**
324 +
325 +)))
326 +| |(% style="text-align:center; vertical-align:middle" %) |(((
327 +**Manual Edit**
257 257  
258 -//{Coming Soon}//
329 +Time, angles, gripper
259 259  )))
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331 +| |(% style="text-align:center; vertical-align:middle" %) |(((
332 +**Zoom**
314 314  
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 +
315 315  {{comment}}
316 316  = =
317 317  
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