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22	22	__Compatibility: Windows 7 Operating System or above__
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24		-
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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.
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36		-== IMPORTANT ==
37		-)))
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39		-=== Payload Considerations ===
40		-)))
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42		-1. The rated payload for each arm does NOT include an end effector, nor any added distance between the center of mass of the payload and the output of the final joint. Each of the two compatible Lynxmotion PRO grippers reduce the maximum payload of each arm, and it is up to the user to known and understand the concept of "torque" and center of mass before adding an end effector and payload.
43		-1. The rated maximum payload for each arm (at full reach) is at the rated speed for each motor. Moving any joint at a higher speed will decrease the payload capacity of the robot.
44		-1. Although each servo can provide significantly more torque than is needed for the rated payload (and therefore means the arm can support much higher loads at lower speeds, the mechanical and modular structure of the arms may fail. We strongly suggest testing and using each arm in a highly controlled and safe setting where, if a failure should occur with one or more joints, that nothing will break should the arm fall.
45		-1. The stepper motors provide the highest torque at low speeds, and lower torque at high speeds. Note that the maxium torque is not at the lowest speed as the torque to rpm curve for each servo resembles a "mountain".
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		-)))
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138		-
139	139	|(% colspan="2" %)(((
140	140	= User Guide =
141	141	)))
142	142	|(% style="width:26px" %) |(% style="width:1452px" %)(((
143		-Before proceeding with the guide, it is important to note the following:
	28	+Pressing the i "Information" icon in the software will bring you to this page. Before proceeding with the guide, it is important to note the following:
144	144
145	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	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	151	)))
152	152	|(% colspan="2" %)(((
153	153	== IMPORTANT ==
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165	165
166	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	167
168		-**Halt (and hold)**
	49	+**Halt & Hold**
169	169
170		-**[[image:ses-pro-robotic-arm-ui-halt.png]]**
171		-
172	172	This will stop every joints and hold them in their last recorded angular positions. The corresponding command is #254H<cr>.
173	173
174	174	**Limp**
175	175
176		-**[[image:ses-pro-robotic-arm-ui-limp.png]]**
177		-
178	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	179
180		-**Software E-Stop**
	57	+**Software Stop**
181	181
182		-**[[image:ses-pro-robotic-arm-ui-arm-emergency.png]]**
	59	+The E-stop button within the software sets all joints to limp.
183	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**
	61	+**Hardware E-Stop**
187	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	188	)))
189	189	|(% colspan="2" %)(((
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192	192	|(% style="width:26px" %) |(% style="width:1452px" %)(((
193	193	**Model**
194	194
195		-**[[image:ses-pro-robotic-arm-ui-arm-version.png]]**
196		-
197	197	The software currently supports the following Lynxmotion PRO Arms:
198	198
199	199	* 550mm 5DoF
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205	205
206	206	**COM Port**
207	207
208		-**[[image:ses-pro-robotic-arm-ui-com.png]]**
209		-
210	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	211
212		-**Connect / Disconnect**
	83	+**Connect**
213	213
214		-[[image:ses-pro-robotic-arm-ui-connect.png]]
215		-
216		-[[image:ses-pro-robotic-arm-ui-disconnect.png]]
217		-
218	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	219	)))
220	220	|(% colspan="2" %)(((