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102	102	== Gripper Controls ==
103	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	+)))
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	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	+)))
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	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	+)))
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	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	+)))
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138	138
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140	140	= User Guide =