Changes for page SES-PRO Robotic Arm UI
Last modified by Eric Nantel on 2024/10/16 14:33
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... ... @@ -21,6 +21,95 @@ 21 21 22 22 __Compatibility: Windows 7 Operating System or above__ 23 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 +))) 72 +| |(% style="text-align:center; vertical-align:middle" %) | 73 +| |(% style="text-align:center; vertical-align:middle" %) | 74 +| |(% style="text-align:center; vertical-align:middle" %) | 75 +| |(% style="text-align:center; vertical-align:middle" %) | 76 +| |(% style="text-align:center; vertical-align:middle" %) | 77 +| |(% style="text-align:center; vertical-align:middle" %) | 78 +| |(% style="text-align:center; vertical-align:middle" %) | 79 +| |(% style="text-align:center; vertical-align:middle" %) | 80 +| |(% style="text-align:center; vertical-align:middle" %) | 81 +| |(% style="text-align:center; vertical-align:middle" %) | 82 +| |(% style="text-align:center; vertical-align:middle" %) | 83 +| |(% style="text-align:center; vertical-align:middle" %) | 84 +| |(% style="text-align:center; vertical-align:middle" %) | 85 +| |(% style="text-align:center; vertical-align:middle" %) | 86 +| |(% style="text-align:center; vertical-align:middle" %) | 87 +| |(% style="text-align:center; vertical-align:middle" %) | 88 +| |(% style="text-align:center; vertical-align:middle" %) | 89 +| |(% style="text-align:center; vertical-align:middle" %) | 90 +| |(% style="text-align:center; vertical-align:middle" %) | 91 +| |(% style="text-align:center; vertical-align:middle" %) | 92 +| |(% style="text-align:center; vertical-align:middle" %) | 93 +| |(% style="text-align:center; vertical-align:middle" %) | 94 +| |(% style="text-align:center; vertical-align:middle" %) | 95 +| |(% style="text-align:center; vertical-align:middle" %) | 96 +| |(% style="text-align:center; vertical-align:middle" %) | 97 +| |(% style="text-align:center; vertical-align:middle" %) | 98 +| |(% style="text-align:center; vertical-align:middle" %) | 99 +| |(% style="text-align:center; vertical-align:middle" %) | 100 +| |(% style="text-align:center; vertical-align:middle" %) | 101 +| |(% style="text-align:center; vertical-align:middle" %) | 102 +| |(% style="text-align:center; vertical-align:middle" %) | 103 +| |(% style="text-align:center; vertical-align:middle" %) | 104 +| |(% style="text-align:center; vertical-align:middle" %) | 105 +| |(% style="text-align:center; vertical-align:middle" %) | 106 +| |(% style="text-align:center; vertical-align:middle" %) | 107 +| |(% style="text-align:center; vertical-align:middle" %) | 108 +| |(% style="text-align:center; vertical-align:middle" %) | 109 +| |(% style="text-align:center; vertical-align:middle" %) | 110 +| |(% style="text-align:center; vertical-align:middle" %) | 111 + 112 + 24 24 |(% colspan="2" %)((( 25 25 = User Guide = 26 26 )))