Changes for page SES-PRO Robotic Arm UI

Last modified by Eric Nantel on 2024/10/16 14:33
From version < 48.2 >
edited by Eric Nantel
on 2024/10/16 12:31
To version < 13.1 >
edited by Eric Nantel
on 2024/09/23 07:59
< >
Change comment: There is no comment for this version

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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  
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8 8  
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.
12 12  
13 13  = Features =
14 14  
15 -* Angular and cartesian positioning of the end effector
16 -* 3D graphical display of the appropriate robotic arm and end effector
17 -* Sequencer to record and play back frames (single, looped or infinite)
18 -* Error checking (speed, temperature etc.)
19 -* Command output and user input
20 -* Safety (Software E-Stop, Halt&Hold & Limp)
21 21  
22 -__Compatibility: Windows 7 Operating System or above__
15 +<direct commands>
23 23  
24 -
25 -|(% colspan="3" %)(((
26 -= User Guide =
27 -)))
28 -|(% style="width:25px" %) |(% colspan="2" rowspan="1" style="width:100px" %)(((
29 -Before proceeding with the guide, it is important to note the following:
30 -
31 -* 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
32 -* 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
33 -)))
34 -| |(% 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.
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 -)))
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111 -
112 -|(% colspan="2" %)(((
113 -= User Guide =
114 -)))
115 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
116 -Before proceeding with the guide, it is important to note the following:
117 -
118 -* 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
119 -* 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
120 -
121 -Pressing the i "Information" icon in the software will bring you to this page.
122 -
123 -[[image:ses-pro-robotic-arm-ui-info.png]]
124 -)))
125 -|(% colspan="2" %)(((
126 -== IMPORTANT ==
127 -)))
128 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
129 -=== Payload Considerations ===
130 -
131 -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.
132 -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.
133 -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.
134 -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".
135 -)))
136 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
137 -=== Emergency ===
138 -
139 -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:
140 -
141 -**Halt (and hold)**
142 -
143 -**[[image:ses-pro-robotic-arm-ui-halt.png]]**
144 -
145 -This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
146 -
147 -**Limp**
148 -
149 -**[[image:ses-pro-robotic-arm-ui-limp.png]]**
150 -
151 -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>.
152 -
153 -**Software E-Stop**
154 -
155 -**[[image:ses-pro-robotic-arm-ui-arm-emergency.png]]**
156 -
157 -The E-stop button within the software sets all joints to limp, this can possibly cause the arm to fall.
158 -
159 -**Power Supply E-Stop**
160 -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.
161 -)))
162 -|(% colspan="2" %)(((
163 -== Arm Connection ==
164 -)))
165 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
166 -**Model**
167 -
168 -**[[image:ses-pro-robotic-arm-ui-arm-version.png]]**
169 -
170 -The software currently supports the following Lynxmotion PRO Arms:
171 -
172 -* 550mm 5DoF
173 -* 550mm 6DoF
174 -* 900mm 5DoF
175 -* 900mm 6DoF
176 -
177 -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.
178 -
179 -**COM Port**
180 -
181 -**[[image:ses-pro-robotic-arm-ui-com.png]]**
182 -
183 -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. 
184 -
185 -**Connect / Disconnect**
186 -
187 -[[image:ses-pro-robotic-arm-ui-connect.png]]
188 -
189 -[[image:ses-pro-robotic-arm-ui-disconnect.png]]
190 -
191 -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.
192 -)))
193 -|(% colspan="2" %)(((
194 -== Gripper Controls ==
195 -)))
196 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
197 -**Model**
198 -
199 -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.
200 -
201 -* PGE-50-40 (40mm default configuration)
202 -* PGE-50-40 (60mm configuration)
203 -* PGE-50-40 (80mm configuration)
204 -* CGE-10-10 (20mm configuration)
205 -* CGE-10-10 (40mm configuration)
206 -* CGE-10-10 (60mm configuration)
207 -
208 -**COM Port**
209 -
210 -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
211 -
212 -**Baudrate**
213 -
214 -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.
215 -
216 -**Initialize**
217 -
218 -Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
219 -
220 -**Connect**
221 -
222 -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.
223 -
224 -**Speed**
225 -
226 -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.
227 -
228 -**Force**
229 -
230 -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.
231 -
232 -**Open / Close**
233 -
234 -These are shortcut buttons to either fully open or fully close the gripper.
235 -
236 -**Sequencer**
237 -
238 -The sequencer displays the gripper position as joint 7 (J7).
239 -
240 -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.
241 -)))
242 -|(% colspan="2" %)(((
243 -== 3D Model ==
244 -)))
245 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
246 -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.
247 -
248 -**View Controls**
249 -
250 -Zoom: Shift + Middle Scroll
251 -
252 -Rotate: Shift + Middle Mouse
253 -
254 -Pan: None
255 -)))
256 -|(% colspan="2" %)(((
257 -== Manual Move ==
258 -)))
259 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
260 -**Angular Control**
261 -
262 -In angular mode, the user can control the angle of each joint
263 -
264 -**Coordinates Control**
265 -
266 -In coordinate control the user can control the cartesian position of the end effector
267 -
268 -**End Effector Lock**
269 -
270 -The orientation of the end effector can be locked.
271 -)))
272 -|(% colspan="2" %)(((
273 -== Direct Command ==
274 -)))
275 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
276 -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.
277 -
278 -A few things to keep in mind when using this:
279 -
280 -* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
281 -* Sending commands does not require ‘#’ and ‘\r’ chars.
282 -** example for #2\r you should enter 2Q and press the "SEND" button
17 +* Does not require ‘#’ and ‘\r’ chars, example for #254Q\r the user should enter 254Q.
18 +* The replies of the query commands are shown in the text field below.
283 283  * The commands are validated, and it shows a notification in case of error.
284 -* The replies of queries are shown in the text field below.
285 -)))
286 -|(% colspan="2" %)(((
287 -== Command Output ==
288 -)))
289 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
290 -//{Coming Soon}//
291 -)))
292 -|(% colspan="2" %)(((
293 -== Telemetry ==
294 -)))
295 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
296 -**Data to Display**
20 +* Supported commands:
297 297  
298 -Various telemetry data can be retrieved from each actuators / joints, here is what the software support:
22 +Action:
299 299  
300 -* Position
301 -* Current
302 -* Linear Accel X
303 -* Linear Accel Y
304 -* Linear Accel Z
305 -* Angular Accel α
306 -* Angular Accel β
307 -* Angular Accel γ
308 -* MCU Temperature
309 -* PCB Temperature
310 -* Probe Temperature
24 + # Communication setup
311 311  
312 -**Display / Hide **
26 + RESET = "RESET"
313 313  
314 -At the bottom of the graphics you will find squares to activate / deactivate the desired actuator / joint to be displayed in the graph.
315 -)))
316 -|(% colspan="2" style="width:26px" %)(((
317 -== Sequencer ==
318 -)))
319 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
320 -**Sequence**
28 + DEFAULT_CONFIGURATION = "DEFAULT"
321 321  
322 -Add
30 + FIRMWARE_UPDATE_MODE = "UPDATE"
323 323  
324 -Substract
32 + CONFIRM_CHANGES = "CONFIRM"
325 325  
326 -Copy
34 + # Motion
327 327  
328 -Save
36 + POSITION = "D"
329 329  
330 -Open
38 + MOVE_DEGREES = "MD"
331 331  
332 -Delete
40 + WHEEL_MODE_DEGREES = "WD"
333 333  
334 -//{Coming Soon}//
42 + WHEEL_MODE_RPM = "WR"
335 335  
336 -**Frames**
44 + HALT_AND_HOLD = "H"
337 337  
338 -Add
46 + LIMP = "L"
339 339  
340 -Sequence Selector
48 + # Motion setup
341 341  
342 -Record
50 + ORIGIN_OFFSET = "O"
343 343  
344 -Delete
52 + ANGULAR_RANGE = "AR"
345 345  
346 -Copy
54 + ANGULAR_ACCELERATION = "AA"
347 347  
348 -Paste
56 + ANGULAR_DECELERATION = "AD"
349 349  
350 -Swap
58 + GYRE_DIRECTION = "G"
351 351  
352 -Manual Edit
60 + MAX_SPEED_DEGREES = "SD"
353 353  
354 -Time, angles, gripper
62 + MAX_SPEED_RPM = "SR"
355 355  
356 -Moving Frames
64 + # RGB LED
357 357  
358 -//Alt + Left Click = Drag time//
66 + LED_COLOR = "LED"
359 359  
360 -//{Coming Soon}//
68 + Query:
361 361  
362 -**Errors**
70 + # Communication setup
363 363  
364 -//{Coming Soon}//
365 -)))
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72 + ID_NUMBER = "QID"
420 420  
421 -{{comment}}
422 -= =
74 + ENABLE_CAN_TERMINAL = "QET"
423 423  
424 -= User Guide =
76 + USB_CONNECTION_STATUS = "QUC"
425 425  
426 -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:
78 + # Motion
427 427  
428 -* 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
429 -* 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
80 + POSITION = "QD"
430 430  
431 -== IMPORTANT: Payload Considerations ==
82 + WHEEL_MODE_DEGREES = "QWD"
432 432  
433 -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.
434 -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.
435 -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.
436 -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".
84 + WHEEL_MODE_RPM = "QWR"
437 437  
438 -== IMPORTANT: Emergency ==
86 + MOTION_STATUS = "Q"
439 439  
440 -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:
88 + MOTION_TIME = "QMT"
441 441  
442 -**Halt & Hold**
90 + CURRENT_SPEED = "QCS"
443 443  
444 -This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
445 445  
446 -**Limp**
93 + # Telemetry
447 447  
448 -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>.
95 + MODEL_STRING = "QMS" 
449 449  
450 -**Software Stop**
97 + FIRMWARE_VERSION = "QF" 
451 451  
452 -The E-stop button within the software sets all joints to limp.
99 + SERIAL_NUMBER = "QN" 
453 453  
454 -**Hardware E-Stop**
455 -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.
101 + TEMP_CONTROLLER_ERROR = "QTCE" 
456 456  
457 -== Arm Connection ==
103 + TEMP_CONTROLLER_WARNING = "QTCW" 
458 458  
459 -**Model**
105 + CURRENT = "QC"
460 460  
461 -The software currently supports the following Lynxmotion PRO Arms:
107 + ACCX = "QIX"
462 462  
463 -* 550mm 5DoF
464 -* 550mm 6DoF
465 -* 900mm 5DoF
466 -* 900mm 6DoF
109 + ACCY = "QIY"
467 467  
468 -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.
111 + ACCZ = "QIZ"
469 469  
470 -**COM Port**
113 + ACCALPHA = "QIA"
471 471  
472 -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. 
115 + ACCBETA = "QIB"
473 473  
474 -**Connect**
117 + ACCGAMMA = "QIG"
475 475  
476 -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.
119 + TEMPMCU = "QTM"
477 477  
478 -== Gripper Controls ==
121 + TEMPPROBE = "QTP"
479 479  
480 -**Model**
123 + TEMPPCB = "QT"
481 481  
482 -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.
125 + ERROR_FLAGS = "QEF"
483 483  
484 -* PGE-50-40 (40mm default configuration)
485 -* PGE-50-40 (60mm configuration)
486 -* PGE-50-40 (80mm configuration)
487 -* CGE-10-10 (20mm configuration)
488 -* CGE-10-10 (40mm configuration)
489 -* CGE-10-10 (60mm configuration)
490 490  
491 -**COM Port**
128 + # RGB LED
492 492  
493 -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
130 + LED_COLOR = "QLED"
494 494  
495 -**Baudrate**
132 + LED_BLINKING = "QLB"
496 496  
497 -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.
134 + LED_INDICATOR = "QLI"
498 498  
499 -**Initialize**
500 500  
501 -Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
137 + # Motion setup
502 502  
503 -**Connect**
139 + ORIGIN_OFFSET = "QO"
504 504  
505 -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.
141 + ANGULAR_RANGE = "QAR"
506 506  
507 -**Speed**
143 + ANGULAR_ACCELERATION = "QAA"
508 508  
509 -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.
145 + ANGULAR_DECELERATION = "QAD"
510 510  
511 -**Force**
147 + GYRE_DIRECTION = "QG"
512 512  
513 -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.
149 + MAX_SPEED_DEGREES = "QSD"
514 514  
515 -**Open / Close**
151 + MAX_SPEED_RPM = "QSR"
516 516  
517 -These are shortcut buttons to either fully open or fully close the gripper.
518 518  
519 -**Sequencer**
154 + Conf:
520 520  
521 -The sequencer displays the gripper position as joint 7 (J7).
156 + # Communication setup
522 522  
523 -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.
158 + ID_NUMBER = "CID"
524 524  
525 -== 3D Model ==
160 + ENABLE_CAN_TERMINAL = "CET"
526 526  
527 -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.
162 + USB_CONNECTION_STATUS = "CUC"
528 528  
529 -**View Controls**
164 + # Motion setup
530 530  
531 -Zoom: Shift + Middle Scroll
166 + MAX_SPEED_DEGREES = "CSD"
532 532  
533 -Rotate: Shift + Middle Mouse
168 + MAX_SPEED_RPM = "CSR"
534 534  
535 -Pan: None
170 + ORIGIN_OFFSET = "CO"
536 536  
537 -== Manual Move ==
172 + ANGULAR_RANGE = "CAR"
538 538  
539 -**Angular Control**
174 + ANGULAR_ACCELERATION = "CAA"
540 540  
541 -In angular mode, the user can control the angle of each joint
176 + ANGULAR_DECELERATION = "CAD"
542 542  
543 -**Coordinates Control**
178 + GYRE_DIRECTION = "CG"
544 544  
545 -In coordinate control the user can control the cartesian position of the end effector
180 + # RGB LED
546 546  
547 -**End Effector Lock**
182 + LED_COLOR = "CLED"
548 548  
549 -The orientation of the end effector can be locked.
184 + LED_BLINKING = "CLB"
550 550  
551 -== Direct Command ==
552 552  
553 -This section allow the user to send commands using the [[doc:ses-pro.lss-pro.lss-p-communication-protocol.WebHome]] directly if required.
187 + Modifier:
554 554  
555 -A few things to keep in mind when using this:
189 + SPEED = "SD"
556 556  
557 -* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
558 -* Sending commands does not require ‘#’ and ‘\r’ chars.
559 -** example for #2\r you should enter 2Q and press the "SEND" button
560 -* The commands are validated, and it shows a notification in case of error.
561 -* The replies of queries are shown in the text field below.
562 -
563 -== Command Output ==
564 -
565 -//{Coming Soon}//
566 -
567 -== Telemetry ==
568 -
569 -**Data to Display**
570 -
571 -//{Coming Soon}//
572 -
573 -**Display / Hide Actuator**
574 -
575 -//{Coming Soon}//
576 -
577 -== Sequencer ==
578 -
579 -**Frames**
580 -
581 -//{Coming Soon}//
582 -
583 -**Record **
584 -
585 -//{Coming Soon}//
586 -
587 -**Edit **
588 -
589 -Time, angles, gripper
590 -
591 -//Alt + Left Click = Drag time//
592 -
593 -**Reorder**
594 -
595 -//{Coming Soon}//
596 -
597 -**Play**
598 -
599 -//{Coming Soon}//
600 -
601 -**Errors**
602 -
603 -//{Coming Soon}//
604 -{{/comment}}
191 + TIME = "T"
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