Changes for page SES-PRO Robotic Arm UI

Last modified by Eric Nantel on 2024/10/16 14:33
From version < 49.1 >
edited by Eric Nantel
on 2024/10/16 12:34
To version < 12.1 >
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:125px" %)[[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 -| |(% 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 -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 -)))
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" %) |
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138 -
139 -|(% colspan="2" %)(((
140 -= User Guide =
141 -)))
142 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
143 -Before proceeding with the guide, it is important to note the following:
144 -
145 -* 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
146 -* 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
147 -
148 -Pressing the i "Information" icon in the software will bring you to this page.
149 -
150 -[[image:ses-pro-robotic-arm-ui-info.png]]
151 -)))
152 -|(% colspan="2" %)(((
153 -== IMPORTANT ==
154 -)))
155 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
156 -=== Payload Considerations ===
157 -
158 -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.
159 -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.
160 -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.
161 -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".
162 -)))
163 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
164 -=== Emergency ===
165 -
166 -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:
167 -
168 -**Halt (and hold)**
169 -
170 -**[[image:ses-pro-robotic-arm-ui-halt.png]]**
171 -
172 -This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
173 -
174 -**Limp**
175 -
176 -**[[image:ses-pro-robotic-arm-ui-limp.png]]**
177 -
178 -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>.
179 -
180 -**Software E-Stop**
181 -
182 -**[[image:ses-pro-robotic-arm-ui-arm-emergency.png]]**
183 -
184 -The E-stop button within the software sets all joints to limp, this can possibly cause the arm to fall.
185 -
186 -**Power Supply E-Stop**
187 -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.
188 -)))
189 -|(% colspan="2" %)(((
190 -== Arm Connection ==
191 -)))
192 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
193 -**Model**
194 -
195 -**[[image:ses-pro-robotic-arm-ui-arm-version.png]]**
196 -
197 -The software currently supports the following Lynxmotion PRO Arms:
198 -
199 -* 550mm 5DoF
200 -* 550mm 6DoF
201 -* 900mm 5DoF
202 -* 900mm 6DoF
203 -
204 -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.
205 -
206 -**COM Port**
207 -
208 -**[[image:ses-pro-robotic-arm-ui-com.png]]**
209 -
210 -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. 
211 -
212 -**Connect / Disconnect**
213 -
214 -[[image:ses-pro-robotic-arm-ui-connect.png]]
215 -
216 -[[image:ses-pro-robotic-arm-ui-disconnect.png]]
217 -
218 -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.
219 -)))
220 -|(% colspan="2" %)(((
221 -== Gripper Controls ==
222 -)))
223 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
224 -**Model**
225 -
226 -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.
227 -
228 -* PGE-50-40 (40mm default configuration)
229 -* PGE-50-40 (60mm configuration)
230 -* PGE-50-40 (80mm configuration)
231 -* CGE-10-10 (20mm configuration)
232 -* CGE-10-10 (40mm configuration)
233 -* CGE-10-10 (60mm configuration)
234 -
235 -**COM Port**
236 -
237 -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
238 -
239 -**Baudrate**
240 -
241 -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.
242 -
243 -**Initialize**
244 -
245 -Initializing the gripper opens it fully. This is available should the user encounter issues with positioning and need to re-zero the fingers.
246 -
247 -**Connect**
248 -
249 -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.
250 -
251 -**Speed**
252 -
253 -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.
254 -
255 -**Force**
256 -
257 -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.
258 -
259 -**Open / Close**
260 -
261 -These are shortcut buttons to either fully open or fully close the gripper.
262 -
263 -**Sequencer**
264 -
265 -The sequencer displays the gripper position as joint 7 (J7).
266 -
267 -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.
268 -)))
269 -|(% colspan="2" %)(((
270 -== 3D Model ==
271 -)))
272 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
273 -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.
274 -
275 -**View Controls**
276 -
277 -Zoom: Shift + Middle Scroll
278 -
279 -Rotate: Shift + Middle Mouse
280 -
281 -Pan: None
282 -)))
283 -|(% colspan="2" %)(((
284 -== Manual Move ==
285 -)))
286 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
287 -**Angular Control**
288 -
289 -In angular mode, the user can control the angle of each joint
290 -
291 -**Coordinates Control**
292 -
293 -In coordinate control the user can control the cartesian position of the end effector
294 -
295 -**End Effector Lock**
296 -
297 -The orientation of the end effector can be locked.
298 -)))
299 -|(% colspan="2" %)(((
300 -== Direct Command ==
301 -)))
302 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
303 -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.
304 -
305 -A few things to keep in mind when using this:
306 -
307 -* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
308 -* Sending commands does not require ‘#’ and ‘\r’ chars.
309 -** 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.
310 310  * The commands are validated, and it shows a notification in case of error.
311 -* The replies of queries are shown in the text field below.
312 -)))
313 -|(% colspan="2" %)(((
314 -== Command Output ==
315 -)))
316 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
317 -//{Coming Soon}//
318 -)))
319 -|(% colspan="2" %)(((
320 -== Telemetry ==
321 -)))
322 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
323 -**Data to Display**
20 +* Supported commands:
324 324  
325 -Various telemetry data can be retrieved from each actuators / joints, here is what the software support:
22 +Action:
326 326  
327 -* Position
328 -* Current
329 -* Linear Accel X
330 -* Linear Accel Y
331 -* Linear Accel Z
332 -* Angular Accel α
333 -* Angular Accel β
334 -* Angular Accel γ
335 -* MCU Temperature
336 -* PCB Temperature
337 -* Probe Temperature
24 + # Communication setup
338 338  
339 -**Display / Hide **
26 + RESET = "RESET"
340 340  
341 -At the bottom of the graphics you will find squares to activate / deactivate the desired actuator / joint to be displayed in the graph.
342 -)))
343 -|(% colspan="2" style="width:26px" %)(((
344 -== Sequencer ==
345 -)))
346 -|(% style="width:26px" %) |(% style="width:1452px" %)(((
347 -**Sequence**
28 + DEFAULT_CONFIGURATION = "DEFAULT"
348 348  
349 -Add
30 + FIRMWARE_UPDATE_MODE = "UPDATE"
350 350  
351 -Substract
32 + CONFIRM_CHANGES = "CONFIRM"
352 352  
353 -Copy
34 + # Motion
354 354  
355 -Save
36 + POSITION = "D"
356 356  
357 -Open
38 + MOVE_DEGREES = "MD"
358 358  
359 -Delete
40 + WHEEL_MODE_DEGREES = "WD"
360 360  
361 -//{Coming Soon}//
42 + WHEEL_MODE_RPM = "WR"
362 362  
363 -**Frames**
44 + HALT_AND_HOLD = "H"
364 364  
365 -Add
46 + LIMP = "L"
366 366  
367 -Sequence Selector
48 + # Motion setup
368 368  
369 -Record
50 + ORIGIN_OFFSET = "O"
370 370  
371 -Delete
52 + ANGULAR_RANGE = "AR"
372 372  
373 -Copy
54 + ANGULAR_ACCELERATION = "AA"
374 374  
375 -Paste
56 + ANGULAR_DECELERATION = "AD"
376 376  
377 -Swap
58 + GYRE_DIRECTION = "G"
378 378  
379 -Manual Edit
60 + MAX_SPEED_DEGREES = "SD"
380 380  
381 -Time, angles, gripper
62 + MAX_SPEED_RPM = "SR"
382 382  
383 -Moving Frames
64 + # RGB LED
384 384  
385 -//Alt + Left Click = Drag time//
66 + LED_COLOR = "LED"
386 386  
387 -//{Coming Soon}//
68 + Query:
388 388  
389 -**Errors**
70 + # Communication setup
390 390  
391 -//{Coming Soon}//
392 -)))
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72 + ID_NUMBER = "QID"
447 447  
448 -{{comment}}
449 -= =
74 + ENABLE_CAN_TERMINAL = "QET"
450 450  
451 -= User Guide =
76 + USB_CONNECTION_STATUS = "QUC"
452 452  
453 -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
454 454  
455 -* 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
456 -* 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"
457 457  
458 -== IMPORTANT: Payload Considerations ==
82 + WHEEL_MODE_DEGREES = "QWD"
459 459  
460 -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.
461 -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.
462 -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.
463 -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"
464 464  
465 -== IMPORTANT: Emergency ==
86 + MOTION_STATUS = "Q"
466 466  
467 -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"
468 468  
469 -**Halt & Hold**
90 + CURRENT_SPEED = "QCS"
470 470  
471 -This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
472 472  
473 -**Limp**
93 + # Telemetry
474 474  
475 -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" 
476 476  
477 -**Software Stop**
97 + FIRMWARE_VERSION = "QF" 
478 478  
479 -The E-stop button within the software sets all joints to limp.
99 + SERIAL_NUMBER = "QN" 
480 480  
481 -**Hardware E-Stop**
482 -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" 
483 483  
484 -== Arm Connection ==
103 + TEMP_CONTROLLER_WARNING = "QTCW" 
485 485  
486 -**Model**
105 + CURRENT = "QC"
487 487  
488 -The software currently supports the following Lynxmotion PRO Arms:
107 + ACCX = "QIX"
489 489  
490 -* 550mm 5DoF
491 -* 550mm 6DoF
492 -* 900mm 5DoF
493 -* 900mm 6DoF
109 + ACCY = "QIY"
494 494  
495 -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"
496 496  
497 -**COM Port**
113 + ACCALPHA = "QIA"
498 498  
499 -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"
500 500  
501 -**Connect**
117 + ACCGAMMA = "QIG"
502 502  
503 -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"
504 504  
505 -== Gripper Controls ==
121 + TEMPPROBE = "QTP"
506 506  
507 -**Model**
123 + TEMPPCB = "QT"
508 508  
509 -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"
510 510  
511 -* PGE-50-40 (40mm default configuration)
512 -* PGE-50-40 (60mm configuration)
513 -* PGE-50-40 (80mm configuration)
514 -* CGE-10-10 (20mm configuration)
515 -* CGE-10-10 (40mm configuration)
516 -* CGE-10-10 (60mm configuration)
517 517  
518 -**COM Port**
128 + # RGB LED
519 519  
520 -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"
521 521  
522 -**Baudrate**
132 + LED_BLINKING = "QLB"
523 523  
524 -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"
525 525  
526 -**Initialize**
527 527  
528 -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
529 529  
530 -**Connect**
139 + ORIGIN_OFFSET = "QO"
531 531  
532 -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"
533 533  
534 -**Speed**
143 + ANGULAR_ACCELERATION = "QAA"
535 535  
536 -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"
537 537  
538 -**Force**
147 + GYRE_DIRECTION = "QG"
539 539  
540 -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"
541 541  
542 -**Open / Close**
151 + MAX_SPEED_RPM = "QSR"
543 543  
544 -These are shortcut buttons to either fully open or fully close the gripper.
545 545  
546 -**Sequencer**
154 + Conf:
547 547  
548 -The sequencer displays the gripper position as joint 7 (J7).
156 + # Communication setup
549 549  
550 -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"
551 551  
552 -== 3D Model ==
160 + ENABLE_CAN_TERMINAL = "CET"
553 553  
554 -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"
555 555  
556 -**View Controls**
164 + # Motion setup
557 557  
558 -Zoom: Shift + Middle Scroll
166 + MAX_SPEED_DEGREES = "CSD"
559 559  
560 -Rotate: Shift + Middle Mouse
168 + MAX_SPEED_RPM = "CSR"
561 561  
562 -Pan: None
170 + ORIGIN_OFFSET = "CO"
563 563  
564 -== Manual Move ==
172 + ANGULAR_RANGE = "CAR"
565 565  
566 -**Angular Control**
174 + ANGULAR_ACCELERATION = "CAA"
567 567  
568 -In angular mode, the user can control the angle of each joint
176 + ANGULAR_DECELERATION = "CAD"
569 569  
570 -**Coordinates Control**
178 + GYRE_DIRECTION = "CG"
571 571  
572 -In coordinate control the user can control the cartesian position of the end effector
180 + # RGB LED
573 573  
574 -**End Effector Lock**
182 + LED_COLOR = "CLED"
575 575  
576 -The orientation of the end effector can be locked.
184 + LED_BLINKING = "CLB"
577 577  
578 -== Direct Command ==
579 579  
580 -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:
581 581  
582 -A few things to keep in mind when using this:
189 + SPEED = "SD"
583 583  
584 -* Make sure you know what you are doing as you can make the arm move in __dangerous__ ways.
585 -* Sending commands does not require ‘#’ and ‘\r’ chars.
586 -** example for #2\r you should enter 2Q and press the "SEND" button
587 -* The commands are validated, and it shows a notification in case of error.
588 -* The replies of queries are shown in the text field below.
589 -
590 -== Command Output ==
591 -
592 -//{Coming Soon}//
593 -
594 -== Telemetry ==
595 -
596 -**Data to Display**
597 -
598 -//{Coming Soon}//
599 -
600 -**Display / Hide Actuator**
601 -
602 -//{Coming Soon}//
603 -
604 -== Sequencer ==
605 -
606 -**Frames**
607 -
608 -//{Coming Soon}//
609 -
610 -**Record **
611 -
612 -//{Coming Soon}//
613 -
614 -**Edit **
615 -
616 -Time, angles, gripper
617 -
618 -//Alt + Left Click = Drag time//
619 -
620 -**Reorder**
621 -
622 -//{Coming Soon}//
623 -
624 -**Play**
625 -
626 -//{Coming Soon}//
627 -
628 -**Errors**
629 -
630 -//{Coming Soon}//
631 -{{/comment}}
191 +* ** TIME = "T"**
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