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 < 17.1 >
edited by Eric Nantel
on 2024/10/01 15:21
< >
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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__
23 -
24 -
25 -|(% colspan="3" %)(((
26 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 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 -)))
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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)**
17 +== Emergencies ==
54 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**
19 +When an emergency occur the user will have three choices:
59 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**
21 +**HALT & HOLD**
22 +Will stop all motions on every joints and hold them in their last positions.
64 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**
24 +**LIMP**
25 +All joints will go limp which mean there will be nothing avoiding them to turn freely. The internal mechanism of the LSS-P actuators does have some back driving forces but it will make the arm fall if this is engaged.
69 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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27 +**POWER SUPPLY EMERGENCY**
28 +A push to cut power button is located on the power supply which will indeed cut all actuator from receiving their power. This will also make the arm fall.
111 111  
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" %)(((
30 +(% class="wikigeneratedid" %)
243 243  == 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.
247 247  
248 -**View Controls**
33 +**Control the View**
249 249  
250 -Zoom: Shift + Middle Scroll
35 +== Arm connection ==
251 251  
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
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 -)))
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290 -//{Coming Soon}//
291 -)))
292 -|(% colspan="2" %)(((
293 -== Telemetry ==
294 -)))
295 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
296 -**Data to Display**
297 -
298 -Various telemetry data can be retrieved from each actuators / joints, here is what the software support:
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
311 -
312 -**Display / Hide **
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**
321 -
322 -Add
323 -
324 -Substract
325 -
326 -Copy
327 -
328 -Save
329 -
330 -Open
331 -
332 -Delete
333 -
334 -//{Coming Soon}//
335 -
336 -**Frames**
337 -
338 -Add
339 -
340 -Sequence Selector
341 -
342 -Record
343 -
344 -Delete
345 -
346 -Copy
347 -
348 -Paste
349 -
350 -Swap
351 -
352 -Manual Edit
353 -
354 -Time, angles, gripper
355 -
356 -Moving Frames
357 -
358 -//Alt + Left Click = Drag time//
359 -
360 -//{Coming Soon}//
361 -
362 -**Errors**
363 -
364 -//{Coming Soon}//
365 -)))
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420 -
421 -{{comment}}
422 -= =
423 -
424 -= User Guide =
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:
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
430 -
431 -== IMPORTANT: Payload Considerations ==
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".
437 -
438 -== IMPORTANT: Emergency ==
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:
441 -
442 -**Halt & Hold**
443 -
444 -This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
445 -
446 -**Limp**
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>.
449 -
450 -**Software Stop**
451 -
452 -The E-stop button within the software sets all joints to limp.
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.
456 -
457 -== Arm Connection ==
458 -
459 459  **Model**
460 460  
461 -The software currently supports the following Lynxmotion PRO Arms:
39 +**Serial COM Port**
462 462  
463 -* 550mm 5DoF
464 -* 550mm 6DoF
465 -* 900mm 5DoF
466 -* 900mm 6DoF
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.
469 -
470 -**COM Port**
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. 
473 -
474 474  **Connect**
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.
43 +== Gripper connection ==
477 477  
478 -== Gripper Controls ==
479 -
480 480  **Model**
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.
47 +**Serial COM Port**
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 -
491 -**COM Port**
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
494 -
495 495  **Baudrate**
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.
498 -
499 -**Initialize**
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.
502 -
503 503  **Connect**
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.
53 +**Calibrate**
506 506  
507 507  **Speed**
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.
510 -
511 511  **Force**
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.
514 -
515 515  **Open / Close**
516 516  
517 -These are shortcut buttons to either fully open or fully close the gripper.
61 +(% class="wikigeneratedid" %)
62 +== Manual Moves ==
518 518  
519 -**Sequencer**
64 +**Joints Control**
520 520  
521 -The sequencer displays the gripper position as joint 7 (J7).
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.
524 -
525 -== 3D Model ==
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.
528 -
529 -**View Controls**
530 -
531 -Zoom: Shift + Middle Scroll
532 -
533 -Rotate: Shift + Middle Mouse
534 -
535 -Pan: None
536 -
537 -== Manual Move ==
538 -
539 -**Angular Control**
540 -
541 -In angular mode, the user can control the angle of each joint
542 -
543 543  **Coordinates Control**
544 544  
545 -In coordinate control the user can control the cartesian position of the end effector
546 -
547 -**End Effector Lock**
548 -
549 -The orientation of the end effector can be locked.
550 -
551 551  == Direct Command ==
552 552  
553 553  This section allow the user to send commands using the [[doc:ses-pro.lss-pro.lss-p-communication-protocol.WebHome]] directly if required.
... ... @@ -560,45 +560,10 @@
560 560  * The commands are validated, and it shows a notification in case of error.
561 561  * The replies of queries are shown in the text field below.
562 562  
563 -== Command Output ==
564 -
565 -//{Coming Soon}//
566 -
567 567  == Telemetry ==
568 568  
569 569  **Data to Display**
570 570  
571 -//{Coming Soon}//
572 -
573 573  **Display / Hide Actuator**
574 574  
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}}
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