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22	22	__Compatibility: Windows 7 Operating System or above__
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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
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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".
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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.
71		-)))
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111		-
112		-
113	113	|(% colspan="2" %)(((
114	114	= User Guide =
115	115	)))
116	116	|(% style="width:26px" %) |(% style="width:1452px" %)(((
117		-Before proceeding with the guide, it is important to note the following:
	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:
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 ==
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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)**
	49	+**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**
	57	+**Software Stop**
155	155
156		-**[[image:ses-pro-robotic-arm-ui-arm-emergency.png]]**
	59	+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**
	61	+**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	)))
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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**
	83	+**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	)))
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