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 < 52.3 >
edited by Eric Nantel
on 2024/10/16 12:43
< >
Change comment: There is no comment for this version

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31 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 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 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.
34 +| |(% style="text-align:center; vertical-align:middle; width:125px" %)[[image:ses-pro-robotic-arm-ui-info.png]]|Pressing the i "Information" icon in the software will bring you to this page.
35 35  | |(% colspan="2" rowspan="1" %)(((
36 36  == IMPORTANT ==
37 37  )))
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38 38  | |(% colspan="2" rowspan="1" %)(((
39 39  === Payload Considerations ===
40 40  )))
41 -| |(% style="text-align:center; vertical-align:middle" %) |(((
41 +| |(% colspan="2" rowspan="1" %)(((
42 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 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 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.
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47 47  | |(% colspan="2" rowspan="1" %)(((
48 48  === Emergency ===
49 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. 
50 +| |(% colspan="2" rowspan="1" %)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 51  The following emergency options are available based on severity:
52 52  | |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-halt.png]]|(((
53 53  **Halt (and hold)**
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69 69  
70 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 71  )))
72 +| |(% colspan="2" rowspan="1" %)(((
73 +== Arm Connection ==
74 +)))
75 +| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version.png]]|(((
76 +**Model**
77 +
78 +The software currently supports the following Lynxmotion PRO Arms:
79 +
80 +* 550mm 5DoF
81 +* 550mm 6DoF
82 +* 900mm 5DoF
83 +* 900mm 6DoF
84 +
85 +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.
86 +)))
87 +| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-com.png]]|(((
88 +**COM Port**
89 +
90 +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.
91 +)))
92 +| |(% style="text-align:center; vertical-align:middle" %)(((
93 +[[image:ses-pro-robotic-arm-ui-connect.png]]
94 +
95 +[[image:ses-pro-robotic-arm-ui-disconnect.png]]
96 +)))|(((
97 +**Connect / Disconnect**
98 +
99 +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.
100 +)))
101 +| |(% colspan="2" rowspan="1" %)(((
102 +== Gripper Controls ==
103 +)))
104 +| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version-drop.png]]|(((
105 +**Model**
106 +
107 +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.
108 +)))
109 +| |(% style="text-align:center; vertical-align:middle" %)[[image:ses-pro-robotic-arm-ui-arm-version.png]]|(((
110 +* PGE-50-40 (40mm default configuration)
111 +* PGE-50-40 (60mm configuration)
112 +* PGE-50-40 (80mm configuration)
113 +* CGE-10-10 (20mm configuration)
114 +* CGE-10-10 (40mm configuration)
115 +* CGE-10-10 (60mm configuration)
116 +)))
117 +| |(% style="text-align:center; vertical-align:middle" %) |(((
118 +**COM Port**
119 +
120 +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
121 +)))
122 +| |(% style="text-align:center; vertical-align:middle" %) |(((
123 +**Baudrate**
124 +
125 +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.
126 +)))
127 +| |(% style="text-align:center; vertical-align:middle" %) |(((
128 +**Initialize**
129 +
130 +Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
131 +)))
132 +| |(% style="text-align:center; vertical-align:middle" %) |(((
133 +**Connect**
134 +
135 +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.
136 +)))
137 +| |(% style="text-align:center; vertical-align:middle" %) |(((
138 +**Speed**
139 +
140 +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.
141 +)))
142 +| |(% style="text-align:center; vertical-align:middle" %) |(((
143 +**Force**
144 +
145 +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.
146 +)))
147 +| |(% style="text-align:center; vertical-align:middle" %) |(((
148 +**Open / Close**
149 +
150 +These are shortcut buttons to either fully open or fully close the gripper.
151 +)))
152 +| |(% style="text-align:center; vertical-align:middle" %) |(((
153 +**Sequencer**
154 +
155 +The sequencer displays the gripper position as joint 7 (J7).
156 +
157 +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 +)))
159 +| |(% colspan="2" rowspan="1" %)(((
160 +== 3D Model ==
161 +)))
162 +| |(% colspan="2" rowspan="1" %)(((
163 +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.
164 +)))
165 +| |(% style="text-align:center; vertical-align:middle" %) |(((
166 +**View Controls**
167 +
168 +Zoom: Shift + Middle Scroll
169 +
170 +Rotate: Shift + Middle Mouse
171 +
172 +Pan: None
173 +)))
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111 111  
112 112  |(% colspan="2" %)(((
113 113  = User Guide =
ses-pro-robotic-arm-ui-arm-version-drop.png
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