Changes for page SES-PRO Robotic Arm UI

Last modified by Eric Nantel on 2024/10/16 14:33
From version < 48.1 >
edited by Eric Nantel
on 2024/10/16 12:29
To version < 25.2 >
edited by Eric Nantel
on 2024/10/09 16:01
< >
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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/SES-PRO-Robotic-Arm-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/LSS-PRO-UI.png" width="350"/}}
2 2  
3 -[[[[image:lynxmotion-wiki-attachments.WebHome@DownloadNow.png]]>>https://lynxmotion.com/tools/ses-pro-app/lynxmotion_ses_pro_robotic_arm_ui_stable.exe]]
3 +[[image:lynxmotion-wiki-attachments.WebHome@ComingSoon.jpg]]
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 +
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 -
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.
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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 -)))
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36 -== IMPORTANT ==
37 -)))
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39 -=== Payload Considerations ===
40 -)))
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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 -)))
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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.
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111 -
112 -
113 113  |(% colspan="2" %)(((
114 114  = User Guide =
115 115  )))
116 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
117 -Before proceeding with the guide, it is important to note the following:
29 +|(% style="width:25px" %) |(((
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:
118 118  
119 119  * 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
120 120  * 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]]
125 125  )))
126 126  |(% colspan="2" %)(((
127 127  == IMPORTANT ==
128 128  )))
129 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
38 +| |(((
130 130  === Payload Considerations ===
131 131  
132 132  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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134 134  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.
135 135  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".
136 136  )))
137 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
46 +| |(((
138 138  === Emergency ===
139 139  
140 140  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:
141 141  
142 -**Halt (and hold)**
51 +**Halt & Hold**
143 143  
144 -**[[image:ses-pro-robotic-arm-ui-halt.png]]**
145 -
146 146  This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
147 147  
148 148  **Limp**
149 149  
150 -**[[image:ses-pro-robotic-arm-ui-limp.png]]**
151 -
152 152  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>.
153 153  
154 -**Software E-Stop**
59 +**Software Stop**
155 155  
156 -**[[image:ses-pro-robotic-arm-ui-arm-emergency.png]]**
61 +The E-stop button within the software sets all joints to limp.
157 157  
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**
63 +**Hardware E-Stop**
161 161  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.
162 162  )))
163 163  |(% colspan="2" %)(((
164 164  == Arm Connection ==
165 165  )))
166 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
69 +| |(((
167 167  **Model**
168 168  
169 -**[[image:ses-pro-robotic-arm-ui-arm-version.png]]**
170 -
171 171  The software currently supports the following Lynxmotion PRO Arms:
172 172  
173 173  * 550mm 5DoF
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179 179  
180 180  **COM Port**
181 181  
182 -**[[image:ses-pro-robotic-arm-ui-com.png]]**
183 -
184 184  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. 
185 185  
186 -**Connect / Disconnect**
85 +**Connect**
187 187  
188 -[[image:ses-pro-robotic-arm-ui-connect.png]]
189 -
190 -[[image:ses-pro-robotic-arm-ui-disconnect.png]]
191 -
192 192  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.
193 193  )))
194 194  |(% colspan="2" %)(((
195 195  == Gripper Controls ==
196 196  )))
197 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
92 +| |(((
198 198  **Model**
199 199  
200 200  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.
... ... @@ -212,7 +212,7 @@
212 212  
213 213  **Baudrate**
214 214  
215 -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.
216 216  
217 217  **Initialize**
218 218  
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240 240  
241 241  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.
242 242  )))
243 -|(% colspan="2" %)(((
244 -== 3D Model ==
245 -)))
246 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
247 -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.
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248 248  
249 -**View Controls**
250 -
251 -Zoom: Shift + Middle Scroll
252 -
253 -Rotate: Shift + Middle Mouse
254 -
255 -Pan: None
256 -)))
257 -|(% colspan="2" %)(((
258 -== Manual Move ==
259 -)))
260 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
261 -**Angular Control**
262 -
263 -In angular mode, the user can control the angle of each joint
264 -
265 -**Coordinates Control**
266 -
267 -In coordinate control the user can control the cartesian position of the end effector
268 -
269 -**End Effector Lock**
270 -
271 -The orientation of the end effector can be locked.
272 -)))
273 -|(% colspan="2" %)(((
274 -== Direct Command ==
275 -)))
276 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
277 -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.
278 -
279 -A few things to keep in mind when using this:
280 -
281 -* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
282 -* Sending commands does not require ‘#’ and ‘\r’ chars.
283 -** example for #2\r you should enter 2Q and press the "SEND" button
284 -* The commands are validated, and it shows a notification in case of error.
285 -* The replies of queries are shown in the text field below.
286 -)))
287 -|(% colspan="2" %)(((
288 -== Command Output ==
289 -)))
290 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
291 -//{Coming Soon}//
292 -)))
293 -|(% colspan="2" %)(((
294 -== Telemetry ==
295 -)))
296 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
297 -**Data to Display**
298 -
299 -Various telemetry data can be retrieved from each actuators / joints, here is what the software support:
300 -
301 -* Position
302 -* Current
303 -* Linear Accel X
304 -* Linear Accel Y
305 -* Linear Accel Z
306 -* Angular Accel α
307 -* Angular Accel β
308 -* Angular Accel γ
309 -* MCU Temperature
310 -* PCB Temperature
311 -* Probe Temperature
312 -
313 -**Display / Hide **
314 -
315 -At the bottom of the graphics you will find squares to activate / deactivate the desired actuator / joint to be displayed in the graph.
316 -)))
317 -|(% colspan="2" style="width:26px" %)(((
318 -== Sequencer ==
319 -)))
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321 -**Sequence**
322 -
323 -Add
324 -
325 -Substract
326 -
327 -Copy
328 -
329 -Save
330 -
331 -Open
332 -
333 -Delete
334 -
335 -//{Coming Soon}//
336 -
337 -**Frames**
338 -
339 -Add
340 -
341 -Sequence Selector
342 -
343 -Record
344 -
345 -Delete
346 -
347 -Copy
348 -
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 -
361 -//{Coming Soon}//
362 -
363 -**Errors**
364 -
365 -//{Coming Soon}//
366 -)))
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422 -{{comment}}
423 423  = =
424 424  
425 425  = User Guide =
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602 602  **Errors**
603 603  
604 604  //{Coming Soon}//
605 -{{/comment}}
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Copyright RobotShop 2018